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研究生:閻祥溥
研究生(外文):Hsiang-PuYen
論文名稱:自主式仿生獸結構於水陸兩用機器人之研製
論文名稱(外文):Design and Implementation of an Autonomous Amphibious Robot with Theo Jansen Linkage
指導教授:王榮泰
指導教授(外文):Jung-Tai Wang
學位類別:碩士
校院名稱:國立成功大學
系所名稱:工程科學系
學門:工程學門
學類:綜合工程學類
論文種類:學術論文
論文出版年:2016
畢業學年度:104
語文別:中文
論文頁數:34
中文關鍵詞:水陸兩用載具SolidWorks仿生獸尾鰭
外文關鍵詞:Amphibious RobotTheo Jansen LinkageTailSolidWorks
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本文以一仿生獸構造為核心,研究一個受環境影響較小的水陸兩用機器人。主要的研究重點在於增強此仿生獸結構於水中運動能力同時增加陸上行走的穩定性,以及讓機器人有自主判斷環境的能力。仿生獸結構的優點是在關節的部分皆以連桿帶動而不需要使用馬達,讓防水的問題減少許多,而使機器人有自主判斷環境的能力也讓機器人往代替人類執行高危險性任務的目標更進一步。
本文主要使用SolidWorks來進行機構的模擬和分析,製作的載具中除了齒輪需要較高的精確度因此以光固化3D列印製作外,其他零件大部分都以壓克力製作。機器人長105mm寬98mm高70mm,重量約250g,實測結果在陸上的前進速度為2.38cm/s,實際測試與模擬的速度差異約為17%,在水中的前進速度約為3.93cm/s。

In this study, a method is proposed to increase the walking stability and increase the swimming speed and direction control at the same time. The robot also is enabled to have independent judgment on the environment to move.
The results show that this method is useful. The walking speed is 2.38cm/s, and the offset is approximately 3.5%. The swimming speed is 3.93cm/s and the direction is straighter. All of these results are better than the first generation [13].

The screws are kept from turning loose through washers. There is an approximately 50% speed difference between the official test and simulation in the condition that no washers are provided, but with the implementation of washers, the speed difference is reduced to 17%.

中文摘要 III
Extended Abstract IV
誌謝 XII
中文目錄 XIII
圖目錄 XV
表目錄 XVII
第 1 章 緒論 1
1.1 研究背景 1
1.2 研究動機 2
1.3 研究目的 4
1.4 論文架構 4
第 2 章 流程規劃與軟硬體設備 5
2.1 研究方法 5
2.2 控制晶片與軟體介紹 5
2.2.1 PIC18F4520簡介 5
2.2.2 馬達驅動IC 7
2.2.3 光耦合器TLP250介紹 8
2.2.4 軟體介紹 9
2.3 硬體介紹 9
2.3.1 馬達 10
2.3.2 壓力感測器 11
2.3.3 電池 13
第 3 章 機構設計與驗證 15
3.1 初始設計 15
3.2 解決辦法:尾鰭 15
3.3 平衡控制 17
3.4 感測器的應用 21
3.5 行走速度 23
第 4 章 實驗結果與討論 25
4.1 行走測試 25
4.2 水上前進測試 30
第 5 章 結論與建議 33
5.1 結論 33
5.2 建議 33
參考文獻 i

[1] Jong-Hwan Kim, Brian Keller, Brian Y. Lattimer, “Sensor Fusion Based Seek-and-Find Fire Algorithm for Intelligent Firefighting Robot, IEEE/ASME International Conference on, IEEE, pp.1482-1486, July 2013.
[2] UC Berkeley , http://news.berkeley.edu/2016/02/08/cockroach-inspires-robot-that-squeezes-through-cracks/(2016/7) 。
[3] S.Santhosh, Innovative Methodology and Designing ofIntelligent Mobile Robots Computer Vision with Genetic Algorithm SLE Mechanism and AdvancedSensors in Managing Disaster, International Conference on Circuit, Power and Computing Technologies on, IEEE, pp.1692-1697, 2014.
[4] Amazon Robotics,
https://www.amazonrobotics.com/#/(2016/7)。
[5] Hagen Schempf , William Crowley, Chris Gasior , Capt. David Moreau “Ultra-rugged Soldier-Robot for Urban Conflict Missions, Unmanned Systems Conference - AUVSI 30th Annual Symposium and Exhibition, July 2003.
[6] Theo Jansen’s STRANDBEEST,
http://www.strandbeest.com/index.php(2016/7)
[7] Biorobotics Laboratory(BIOROB), http://biorob.epfl.ch/research/amphibious(2016/7)
[8] Zhenli Lu, Dayu Feng, Yafei Xie, Huigang Xu, Limin Mao, Changkao Shan, Bin Li, Petr Bilik, Jan Zidek, Radek Martinek, Zdenek Rykala, Study on the motion control of snake-like robots on land and in water, Perspectives in Science, Volume 7, pp.101-108, March 2016.
[9] Alessandro Crespi, Konstantinos Karakasiliotis, Andr´e Guignard, and Auke Jan Ijspeert, “An amphibious robot to study salamander-like swimming and walking gaits, IEEE Transactions on Robotics, Volume 29, issue 2, pp.308-320, April 2013.
[10] Maoxun Li, Shuxiang Guo, Hideyuki Hirata, Hidenori Ishihara, “Design and performance evaluation of an amphibious spherical robot, Robotics and Autonomous Systems on, Journal, Volume 64, pp. 21-34, February 2015.
[11] CHEN Hong, ZHU Chang-an, YIN Xie-zhen, XING Xiao-zheng, CHENG Gang, “Hydrodynamic Analysis and Simulation of A Swimming Bionic Robot Tuna, Journal of Hydrodynamics, Ser. B, Volume 19, issue 4, pp. 412-420, April 2007.
[12] J. Edward Colgate, Kevin M. Lynch, “Mechanics and Control of Swimming: A Review, Journal of Oceanic Engineering on, IEEE, Volume 29, issue 3, pp. 660-673, July 2004
[13] 劉庭亞,仿生獸結構之水陸兩用載具之研製,國立成功大學工程科學系碩士論文,台南,台灣,2015。
[14] Microchip Technology Inc., “PIC18F2420/2520/4420/4520 Data Sheet,
http://ww1.microchip.com/downloads/en/DeviceDoc/39631E.pdf(2016/7)
[15] Pololu公司,“Pololu 298:1 micro metal gear motor, https://www.pololu.com/product/2385 (2016/7)
[16] Pololu公司,“Magnetic Encoder Pair Kit for Micro Metal Gear motors, https://www.pololu.com/product/3081 (2016/7)
[17] NPX公司,“MPXV5050 Date Sheet, http://www.nxp.com/files/sensors/doc/data_sheet/MPX5050.pdf (2016/7)
[18] Kamera公司,“可充式鋰電池CR2, http://www.kamera.com.tw/products/kamera-cr2-2
[19] Qinyuan Ren, Jianxin Xu, Xuefang Li , “A Data-driven Motion Control Approach for a Robotic Fish, Journal of Bionic Engineering, Volume 12, issue 3, pp. 382-394, July 2015.
[20] Zhenlong Wang, Guanrong Hang, Jian Li , Yangwei Wang, Kai Xiao ,“A micro-robot fish with embedded SMA wire actuated flexible biomimetic fin, Journal Sensors and Actuators A: Physical, Volume 144, issue 2, pp. 354-360, June 2008.
[21] Phi Luan Nguyen, Byung Ryong Lee, Kyoung Kwan Ahn, “Thrust and swimming speed analysis of fish robot with non-uniform flexible tail, Journal of Bionic Engineering, Volume.13, pp.73-83, 2016
[22] 劉彥杰,機器魚實作,國立成功大學工程科學系碩士論文,台南,台灣,1998。

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