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研究生:王芯維
研究生(外文):Hsin-Wei Wang
論文名稱:採用腱傳動機構之機器狗的設計與製作
論文名稱(外文):Design and Fabrication of a Robot Dog with Tendon Driving Mechanism
指導教授:張志鋒 博士
指導教授(外文):Chi-Feng Chang
學位類別:碩士
校院名稱:國立高雄應用科技大學
系所名稱:機械與精密工程研究所
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2010
畢業學年度:98
語文別:中文
論文頁數:76
中文關鍵詞:機器人腿部機構腱傳動
外文關鍵詞:RobotLeg MechanismTendon Driving
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本文開發一台採用腱傳動之機器狗,為了使其腿部之外形和運動可儘量接近真實之狗,故將電源、控制器和伺服馬達等電器設備和零組件皆安裝於機器狗之軀幹內,亦即機器狗之四肢僅具機械零組件,故進行腿部設計時可以不必考慮電器設備之佈置以及配線問題。文中首先探討機器狗之設計需求和拓樸結構,然後對一些可行之腿部機構進行評估,並由其中選取兩種最具潛力之腿部機構作進一步的研究,其中一個腿部機構中包含了平面五桿運動鏈,而另一個則屬於串列式結構。對於前者,先指定足部(耦桿點)之動路,再以最佳化方法進行尺寸合成,然後對合成得之機構進行運動分析,分析結果顯示該機構之耦桿點確實可通過動路上之精確點。不過,該機構之工作空間中具有一些傳動角比較差之區域。因此,改用串列式結構以設計機器狗之腿部,同時採用腱以驅動腿部各桿件之相對運動。最後,製作機器狗之原型機以供實驗,再根據實驗結果歸納得以腱傳動之機器腿的優缺點,並提出改進意見以供後續研究之參考。
A robot dog with tendon-driven legs is developed in this study. In order that the motion and the shape of legs can mimic a real dog, each leg of the robot has mechanical parts only. That is, all the electric equipments, such as the power sources, controllers, and servo motors are located in the trunk of the robot, and thus it is unnecessary to consider the arrangement of electric equipments and the wiring problem. Firstly, the design requirements for a desired robot dog are analyzed, and its topological structure is suggested. Secondarily, feasible leg mechanisms are evaluated, and two of them are chosen for further study. In this design stage, the mechanism with a planar five-bar kinematic chain in it is first studied. In order to generate the desired paths of the foot (coupler point), the dimensions of the mechanism are synthesized by using an optimization method. The coupler point of the synthesized mechanism can trace most of the prescribed paths; however, the kinematic analysis of the mechanism shows that there are some regions with poor transmission angles in the desired workspace. Then, a robot leg of serial-type and driven by tendons is developed. Finally, a robot dog with the tendon-driven legs is made for experiments. According to the experiments, some advantages and disadvantages of the tendon-driven leg mechanism are summarized, and the suggestions for improving the performances of the tendon-driven leg are also given.
摘要
ABSTRACT
誌謝
目錄
圖目錄
表目錄
符號表
第一章 前言
1.1 文獻回顧與相關研究
1.1.1 早期的四足步行機器
1.1.2 近代的四足步行機器
1.2 腿部機構之分類
1.3 全文架構
第二章 機器狗之設計需求
2.1 機器狗之設計需求
2.2 適用於機器狗之腿部機構
2.2.1 縮放機構
2.2.2 五連桿機構
2.2.3 串列式開放運動鏈
2.3 機構之選定
第三章 具平面五桿運動鏈之腿部機構
3.1 平面五桿機構之位置分析
3.2 平面五桿機構之尺寸合成
3.3 具平面五桿運動鏈之腿部機構的工作空間
3.3.1 腿部機構之逆向運動分析
3.3.2 腿部機構之工作空間分析
3.4 本章小結
第四章 串列式腿部機構之設計
4.1 串列式腿部機構之設計
4.2 機器狗之運動模擬
4.2.1 機器腿之逆向運動分析
4.2.2 運動模擬
4.3 機器狗細部設計與詳細說明
第五章 機器狗之原型機
5.1 硬體架構
5.2 實體動作測試
5.2.1 三維運動編輯器(3D Motion Editor)
5.2.2 Matlab程式控制
5.3 本章小節
第六章 結論與未來建議
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