臺灣博碩士論文加值系統

本論文設計研製一種糜鹿型的足輪式機器人，其本體架構尺寸為長200 mm、寬150 mm、高100 mm，其機構造型不僅可滿足麋鹿與聖誕老公公之主題設計，進而完成機器人娛樂之目的。足輪機器人在腿部機構部分，是由兩組相同的8桿10接頭且具單一自由度的連桿組，及一組輔助輪所構成。本研究的目的，是要設計出運動特性良好與擁有理想足部軌跡的步行機構。首先利用向量迴路法作運動分析，求得足部軌跡曲線，接著建立位移分析的數學模式。本論文將使用田口方法與實數型基因演算法，設計機器人之足部尺寸，使其達到符合理想足部軌跡之最佳化尺寸。最後利用MSC Visual Nastran進行動畫模擬，並製作實體模型，結果顯示，所設計出的步行機器的確能達到運動的要求。在機器人之智能控制系統設計方面，本計畫是使用8051單晶片做為機器人之控制單元，利用自行設計之C語言程式並配合超音波感測器，在自動模式下使其機器人具有自動避障之功能；結合手機藍芽無線傳輸模式，使足輪式機器人可以讓玩家可用手機直接遙控機器人，本研究之足輪式機器人具有前進、後退、各種角度之旋轉、避障及辦識等智慧型功能，對於研究機器人有很大的幫助。

This paper is devoted in optimal dimension design of a deer-type legged wheel robot. Its main body size is 200×150×100 mm, and the walking machine with two auxiliary wheels is composed of 8-link mechanism and 10 revolute joints. The purpose of this paper is to design such a walking machine with an ideal foot trajectory and good kinematic performance. First, the vector loop approach is used to obtain the foot trajectory and the position displacement of the legs. Then, the equations of displacement are formulated. The optimal dimensions for each leg mechanism are obtained based on Taguchi and real-coded genetic algorithm (RGA) methods with confirming to compare with the ideal foot trajectory of the walking machine. Finally, the computer simulation software MSC is developed and a prototype robot is built. The comparison results show that the designed walking machine dose achieve the required motion characteristics. Furthermore, in the wisdom controller design, we use 8051 microprocessor chip as computer center to control the robot, and write the C cord to cooperate with the ultrasonic sensor. The robot has wisdom controller of distance recognition and Bluetooth wireless control. Besides, we can control the robot through mobile-phone by using the master remote control function. The legged wheel mobile robot has the intelligent advantages of advancing, back-turning, left-turning, right-turning, and barrier-avoiding.

摘要 --------------------------------------------------- i
Abstract ----------------------------------------------- ii
誌謝 --------------------------------------------------- iv
Contents ------------------------------------------------ v
Figure Caption ---------------------------------------- vii
Table Caption ------------------------------------------ ix
Nomenclature ---------------------------------------------x
Chapter 1 Introduction ---------------------------------- 1
Chapter 2 Position analysis ------------------------------4
2.1 Loop 1 ------------------------------------- 4
2.2 Loop 2 ------------------------------------- 5
2.3 Loop 3 --------------------------------------6
2.4 Foot trajectory by computer simulations -----7
Chapter 3 Optimal dimension design by Taguchi method ---- 8
3.1 Define objective function ------------------ 8
3.2 Analysis of the S/N ratio ------------------ 8
3.3 Decision the optimal combination ------------9
3.4 Confirmation experiments -------------------10
3.5 Computer simulations by the MSC software ---10
Chapter 4 Identification based on real-coded genetic algorithm ---------------------------------------------- 12
4.1 The RGA method ---------------------------- 12
4.2 Parameter identifications ----------------- 13
4.3 Identification results ---------------------13
4.4 Calculation of the error ratio ------------ 14
Chapter 5 Comparisons between Taguchi and RGA methods ---15
Chapter 6 The structure of the legged wheel robot -------16
6.1 The structure design ---------------------- 16
6.1.1 Ultrasonic distance sensor -----------16
6.1.2 Motor control system -----------------17
6.1.3 Bluetooth communication system -------17
Chapter 7 System architecture of the robot ------------- 18
7.1 System control structure ------------------ 18
7.2 Java development system ------------------- 18
7.2.1 Java abstract window toolkit -------- 18
7.2.2 Swing classes of the Java foundation
classes ----------------------------- 19
7.3 Bluetooth wireless communications --------- 20
7.3.1 Bluetooth-based telemetry system ---- 20
7.4 Design the user interface ----------------- 21
Chapter 8 Conclusions ---------------------------------- 22
References --------------------------------------------- 23
Vita --------------------------------------------------- 50
Publication -------------------------------------------- 51

[1] J. F. Cheng, R. F. Fung, 2008, “The gait analysis of the hexapod robot”, Proceedings of the 2008 Symposium on Engineering Science & Technology, College of Electrical Engineering and Computer Science, National Kaohsiung First University of Science and Technology, Taiwan, pp. 135-140.
[2] T. Fujikawa, K. Hirakawa, S. Okuma, T. Udagawa, S. Nakano, K. Kikuchi, 2008, “Development of a small flapping robot motion analysis during takeoff by numerical simulation and experiment”, Mechanical Systems and Signal Processing, vol.22, pp.1304-1315.
[3] K. Kikuchi, K. Sakaguchi, T. Sudo, N. Bushida, Y. Chiba, Y. Asai, 2008, “A study on a wheel-based stair-climbing robot with a hopping mechanism”, Mechanical Systems and Signal Processing, vol.22, pp.1316-1326.
[4] H. S. Yan, R. C. Soong, 2004, “An integrated design approach of four-bar linkages with variable input speed”, JSME International Journal, Mechanical Systems, Machine Elements and Manufacturing, vol.47, pp.350-362.
[5] H. S. Yan, Y. G. Chen, 2004, “An approach to design a quadruped walking machine with a single actuator”, Transactions of the Canadian Society for Mechanical Engineering, vol.27, pp. 353-374.
[6] C. C. Hwang, L. Y. Lyu, C. T. Liu, and P. L. Li, 2008, “Optimal design of an SPM motor using genetic algorithms and Taguchi method”, IEEE Transactions on Magnetics, vol.44 , pp.4325-4328.
[7] J. L. Ha, Y. S. Kung, S. C. Hu, and R. F. Fung, 2006, “Optimal design of a micro-positioning Scott-Russell mechanism by Taguchi method”, Sensors and Actuators A-physical, vol.125, pp. 565-572.
[8] B. K. Rout, R. K. Mittal, 2006, “Tolerance design of robot parameters using Taguchi method”, Mechanical Systems and Signal Processing, vol. 20, pp.1832-1852.
[9] S. Y. Wu, R. F. Fung, 2009, “Optimal Dimension Design and Mobile-Phone Bluetooth Control Development of a Legged Wheel Robot”, Proceedings of the 2009 Symposium on Engineering Science & Technology, College of Electrical Engineering and Computer Science, National Kaohsiung First University of Science and Technology, pp.8-13.
[10] G. C. Wu, R. F. Fung, 2007, “Hysteresis model identification of a Scott-Russell amplifying mechanism actuated by a piezoelectric actuator”, Paper Summaries of the 24th National Conference on Mechanical Engineering The Chinese Society of Mechanical Engineers, pp. 1408-1413.
[11] R. L. Haupt, S. E. Haupt, 1998, ”Practical genetic algorithms”, Wiley Interscience, New York,.
[12] J. L. Ha, Y. S. Kung, R. F. Fung, and S. C. Hsien, 2006, ”A comparison of fitness functions for the identification of piezoelectric hysteretic actuator base on the real-coded genetic algorithm”, Sensors and Actuators, vol.132, pp.643-650.
[13] C. T. Chang, C. Y. Chang, S. W. Chang, 2008, “Two-layer multicast communication protocol for Bluetooth radio networks”, Computer Networks, vol.52, pp.2764–2778.