本文介紹越障能力較高的越障車之設計與研究。包含機構設計與機電整合控制兩部分。機構設計是參考Shrimp探測車的結構，採用結合輪與足的雙重功能，利用兩者的優點使它成為一個具有高自由度並且機動性也有不錯表現的越障車。因為在行走遇到障礙物時連桿會被動的改變各個輪軸間的位置，並保持每個輪胎確實的接觸到地面，使得越障車在越障時擁有一定的摩擦力與穩定性，這能使車子對於越障方面的性能更加提升。機電整合控制是使用無線遙控的方式操控車子，採用無線收發模組配合有雙橋驅動器的IC來控制馬達的正反轉，使我們達到能夠遠端遙控越障車的目的。
This study describes the design of an adaptive configuration vehicle (ACV) which is able to overcome barriers. There are two parts in the study- mechanism design and mechatronic control. Referring to structure of Shrimp rover, we combine tires with feet to improve the flexibility and mobility of the vehicle in mechanism design part. Linkage will change the position of each tire while encountering barriers, and thus ensure every tire remain in contact with the ground. This will in turn give the vehicle enough friction and stability to enhance the ability to conquer barriers. Finally, we maneuver the vehicle through remote control. With wireless remote module and dual-bridge driver IC, we are able to control the vehicle at will remotely.
