臺灣博碩士論文加值系統

本研究提出一組創新的足型爬梯機構之最佳比例，相較於現有爬梯機器多以滾輪型、履帶型或多足獨立控制型機器進行爬梯，有爬梯緩慢、質心起伏大等問題，本研究之足型爬梯機構以Jansen機構為原型，該機構僅需單一動力輸入源即可驅動機構運行，跨距大且質心穩定幾乎無晃動，為穩定快速且節能之足型機構。但Jansen機構僅能行走於平地，該軌跡無法進行爬梯，故本研究之足型爬梯機構以模仿人類爬梯之步態軌跡為目標，利用Freeman chain code取得人類爬梯步態軌跡之關鍵點，並建立機構軌跡點自動對應人類爬梯步態軌跡關鍵點之目標函數，使之逼近人類爬梯步態軌跡，並創新最佳化演算法，適用於多變數但不能同時改變所有變數之最佳化問題，並利用此方法，獲得爬梯Jansen機構之黃金比例，並根據此爬梯機構，設計一台多足型仿生爬梯機器人，利用多體運動學模擬分析機器人模型，並加工實作實體模型進行實驗，最終將最佳化結果、模擬結果、實驗結果進行比較驗證，三者驗證結果符合。本研究之足型爬梯機構具備跨越階梯之能力，可拓展於偵查、救災與軍事方面之應用，將來更可將此具備爬梯功能之機構應用於行動輔具的設計，讓行動不便者與年長者可利用此創新之爬梯輔具，完成上下樓梯的行動。本研究之成果將可對行動不便者提供極大的助益，對目前高齡化的國家社會影響層面極大，深具研發意義與市場經濟價值。

This study presents an innovative linkage mechanism and the design of a multi-legged stair-climbing robot. As the traditional continuous track type, star wheel type, and individually controlled multi-legged type stair-climbing machines are either moved slowly or with large oscillation at the centroid during operation. This study presents a multi-legged stair-climbing robot with the capability to steadily climb stairs with consistent human foot trajectory. The leg design is based on the eight-bar Jansen mechanism but a new set of leg configuration is numerically identified based on the proposed optimal design method with the aim to mimic the human foot trajectory when climbing stairs. The kinematic analysis of the leg mechanism based on loop closure equation has been derived in order to identify the leg trajectories for various designs. The targeted foot trajectory is experimentally measured. The weighted sum and sequential quadratic programming methods are used to solve the multi-objective function in the optimal design process. The proposed design is an eight-leg robot; its dynamic performance and trajectories of the multibody motion when climbing stairs have been numerically verified by using the commercial CAE package, RecurDyn. The prototype of the biomimetic robot has been developed to proof the concept design. The experimental results show the multi-legged robot can step up and down stairs with steady human foot trajectory. The outcomes of this study provide numerical methods to analyze the multibody dynamics of the linkage mechanisms as well as to develop an innovative multi-legged walking robot for stair-climbing. The development is expected to be further used for various applications such as rescue robots, information collection/detection, and assistive devices.

摘要 I
ABSTRACT II
誌謝 X
目錄 XI
圖目錄 XIV
表目錄 XIX
符號表 XX
第一章 緒論 1
1.1 前言 1
1.2 文獻回顧 4
1.2.1 足型機構文獻回顧 4
1.2.2 Jansen機構文獻回顧 9
1.2.3 爬梯機器文獻回顧 14
1.2.4 最佳化設計文獻回顧 19
1.3 研究動機與目標 22
1.4 論文架構 23
第二章 最佳化設計 24
2.1 前言 24
2.2 Jansen機構之數學模型 24
2.3 人類爬梯軌跡 30
2.3.1 實驗拍攝 31
2.3.2 影像處理 33
2.3.3 軌跡關鍵點 35
2.4 爬梯機構之最佳化設計 39
2.4.1 多變數母子迴圈最佳化演算法 39
2.4.2 目標函數 41
2.4.3 最佳化設計限制式 49
2.5 本章小結 50
第三章 足型爬梯機器人設計 51
3.1 前言 51
3.2 概念沿革 52
3.3 設計概念 54
3.4 爬梯機構模擬 56
3.5 材料評估 56
3.6 設計模型 58
3.6.1 新尺寸Jansen機構 58
3.6.2 齒輪組 60
3.6.3 馬達驅動系統 61
3.6.4 主架構 62
3.6.5 設計模型 64
3.7 設計模型模擬 66
3.8 實作加工 70
3.9 實驗配置 71
3.10 本章小結 72
第四章 結果與討論 73
4.1 前言 73
4.2 最佳化結果 73
4.3 模擬結果 93
4.4 實驗結果 100
4.5 軌跡驗證與分析 104
4.6 本章小結 108
第五章 結論與建議 109
5.1 結論 109
5.2 建議 110
參考文獻 112
附錄A 最佳化結果與判斷值完整表格 117

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