臺灣博碩士論文加值系統

本論文主要探討模組式機器人的設計及控制，並依據模組彼此之間連接面上所具有之光學感測器，透過自我識別程式，來判斷目前模組式機器人所形成的型態，以便執行不同的系統動作。並在模組式機器人上裝設超音波模組，使模組式機器人具有躲避障礙物的功能。整體模組式機器人並使用ZigBee無線收發模組來作為同步啟動之控制元件，亦使用此元件來控制並選擇模組式機器人的不同動作。
經由實驗結果，可以顯示出模組與模組彼此之間使用釹鐵硼磁鐵當作連接面，可提供機器人運動時連接力量之所需。透過使用超音波模組，亦使釹鐵硼磁鐵模組式機器人具有避障的能力，在使用不同外殼材質下，分別以實驗結果來顯示模組式機器人具有良好的啟動功能，以及在不同型態的組合下可以有效達到設計之目的。

In this thesis, design and control of the modular robot are discussed. The Modular robot is made of a set of robotic modules with the ability to change the shape by having cooperation among the multiple robot modules. In these designed modular robots, they comprise several modules individually with actuators controlled by their own on-board processing units, and these individual modules have the basic motion capability and control functions. Based on the optical sensors mounted on the connected faces of the modular robot can provide the relative position information for self-recognition. Through the self-recognition program, the modular robot can judge their configuration and execute the different motion. The ZigBee wireless module is used to synchronous start the modular robot, and provided to select the different motion.

In the experimental results, using the neodymium magnet between connected faces of the robot modules, they can provide the connected force when the modular robot is motion. Based on the robotic module, the modular robot can be formed by a set of robotic modules with the ability to change the shape by letting the multiple robot modules cooperate. Furthermore, some experimental results are demonstrated to show the effectiveness of the Neodymium Magnet Modular Robot with satisfactory performances.

摘要 V
Abstract VI
誌謝 VII
目錄 VIII
表目錄 X
圖目錄 XI
第一章 緒論 1
1.1 前言 1
1.2 論文架構 2
1.3 文獻回顧 2
1.4 研究方法 8
第二章 基本特性分析 9
2.1 組合方式分析 9
2.2 動作分析 13
2.3 識別方法 16
2.4 感測器訊號分析 23
第三章 NM-MR之設計與製作 26
3.1 NM-MR的系統架構 26
3.1.1 NM-MR控制架構 27
3.1.2 NM-MR電源架構 29
3.2 NM-MR硬體架構 29
3.3 NM-MR電子系統 31
3.4 NM-MR程式流程 37
3.5 NM-MR與VS-MR II比較 38
第四章 實驗結果 39
4.1 實驗設備 39
4.2 壓克力外殼之NM-MR實驗 40
4.2.1 一個機器人模組：基本動作 40
4.2.2一個機器人模組：動作距離實驗 41
4.2.3兩個機器人模組：仿毛毛蟲爬行運動實驗 42
4.2.4 兩個機器人模組：動作距離實驗 43
4.2.5三個機器人模組：仿蛇型運動實驗 44
4.2.6四個機器人模組 ：仿蜘蛛運動實驗 46
4.3 鋁外殼之NM-MR實驗 47
4.3.1一個機器人模組：基本動作 47
4.3.2兩個機器人模組：兩隻站立 49
4.4 鋁外殼之NM-MR避障實驗 50
4.4.1兩個機器人模組 50
4.4.2三個機器人模組：蛇型避障 52
第五章 結論與未來工作 54
5.1 結論 54
5.2未來研究方向 55
參考文獻 56

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