臺灣博碩士論文加值系統

在目前的彈跳機器人研究中，除了特殊移動方式的機器人，如擬人型、擬生物型等之外，普遍都使用了彈簧或氣壓式來達成彈跳動作，而電磁相關研究雖然目前已有廣泛應用，並且技術有相當成熟的程度，但卻幾乎沒有直接應用在彈跳研究上，只有少部份間接利用磁浮等特性來作為輔助，因此本研究主要目的在於設計出一個利用電磁力作為驅動來源，同時用來穩定控制的彈跳機器人。此外為了以軟體模擬幫助分析，也進行建構動態模型和相對的電磁模型，並且依此設計出可確實穩定落地的控制器和有效的控制流程，最後再套用在所規劃的實驗驗證上，以完成最後的實驗目標。

In the present jumping robot research, except the robot of special moving way, such as human-like type, being-like type, etc., use spring or pneumatic cylinder type reach jump motion generally. Though already there is extensive application in electro- magnetic relevant research, and technology has quite ripe degree, but scarcely apply to jumping research directly, only few study utilize indirectly the characteristic, such as magnetic levitation, etc., and come to assist, so the main purpose of this research is design a jumping robot and using electric magnetic force as source of driving, and use for stabilizing controlling at the same time. In addition, for helping to analyze by simulation of software, also bulid dynamic model and relative electromagnetic model, and design the controller that can really land steadily and effective control procedure according to this, then use it in the experiment of planning in order to finish the last experiment goal.

第一章 緒論
1.1 前言
1.2 研究動機
1.3 文獻回顧
第二章 系統設計與建模
2.1 電磁式彈跳機器人之設計
2.2 電磁力分析
2.3 系統動態模型
2.4 控制器設計
第三章 動態模擬結果與分析
3.1 分析電磁力與彈跳最大高度之關係
3.2 動態模擬之流程
3.3 模擬結果分析
第四章 實驗驗證
4.1 實驗軟硬體架構
4.2 實驗驗證與結果分析
第五章 結論與未來工作
參考文獻

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