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研究生:徐士傑
研究生(外文):Shih-Chieh Hsu
論文名稱:可橫向飛躍握枝仿生機器人設計與實作
論文名稱(外文):Development of a Biomimetic Brachiation Robot for Transverse-Jumping
指導教授:林紀穎林紀穎引用關係
指導教授(外文):Chi-Ying Lin
口試委員:林紀穎
口試委員(外文):Chi-Ying Lin
口試日期:2016-07-25
學位類別:碩士
校院名稱:國立臺灣科技大學
系所名稱:機械工程系
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:2016
畢業學年度:104
語文別:中文
論文頁數:120
中文關鍵詞:仿生機器人橫向跳躍壁面越障
外文關鍵詞:Climbing robotBiomimetic robotBrachiation robot
相關次數:
  • 被引用被引用:1
  • 點閱點閱:301
  • 評分評分:
  • 下載下載:19
  • 收藏至我的研究室書目清單書目收藏:1
由日本知名節目「極限體能王」中所獲得之靈感,本研究將設計製作一創新仿生式機器人,重現節目中之動作,期望未來可應用於壁面移動型機器人中,以增加此類機器人的機動性。於該關卡中選手在闖盪該關卡時,因無法用單手抓到較遠之桿子,故會在當前的桿子上,擺盪身體來增加慣性力,待慣性力H足夠後再一躍而出,此動作是橫向的長距離移動,且好似於牆面上跳躍,且此,因此本研究將其稱作「橫向跳躍」。本研究所探討之動作,原理相當類似猿猴在樹與樹枝間的移動方式,當樹枝較遠,猿猴亦會在當前枝椏擺盪一段時間後,再鬆手飛躍,以達到長距離的移動目的。若要完成橫向跳躍這一動作,需探討三個重要的課題,其一,如何擺盪會使機器人獲得最大的慣性力,機器人放手時會較高的飛行速度;其二,何時鬆手可使機器人有好的脫離角度,機器人方手時會有較好的飛行距離;其三,如何穩定滯空時機器人的姿態,使機器人可以穩定的抓到較遠的桿子。在仿生機器人設計上,本研究將會利用ADAMS仿真模擬軟體確認機器人機構之可行性,及尋找機器人最佳的擺盪方式, 並和動力學推導之機器人擺盪頻率相互比較,以確認數值之準確性,最後,將會利用實際製作之機器人比較理論值之差異,並驗證所發展之機器人效能。
This thesis presents an innovative bio-inspired robot design which is capable of performing transverse-jumping motion as shown in a famous Japanese entertainment TV show called “Sasuke.” The goal of this research is to explore the maneuverability of climbing robots and its applications. The primary challenges of such kind of robot design can be interpreted by watching this unique jumping motion from the TV show. In one specific mission, the athletes are asked to move between two rails which are separated by a distanced gap. Because the gap distance is too far for athletes to hold the other rail by solely using one arm, they need to swing their bodies for producing enough inertial forces and then hold the other rail followed by such special jumping motion. In the study this movement is referred to as “Transverse Jumping” due to its transversely overpassing the gap in the air. The idea of this movement is similar to the swinging motion of an ape but shows a different locomotion style. To let the designed robot capable of this jumping, there are three key issues to be considered. The first issue includes investigation of proper swinging motion so as to generate enough inertial forces and flying speed after releasing the hand. Secondly, the optimal hand-releasing timing is also an important factor determining the flying distance. Moreover, the airborne robot posture should be properly designed and adjusted to assure that the robot can correctly hold the other distanced rail after the flying phase. This study applies ADAMS software to verify the designed mechanism and analyze the robot swinging frequency for jumping. The determined swinging frequency is verified by the calculated results using a simplified robot dynamic model. In experiments, two motor control strategies are proposed to enlarge the swing angle of the robot. The jumping experiments demonstrate the feasibility of the proposed robot design.
摘要 I
ABSTRACT II
致謝 IV
目錄 V
圖目錄 VII
表目錄 XIV
第一章 緒論 1
第二章 系統概念介紹及構想設計 10
2.1 系統設計需求 10
2.2 攀爬者姿態分析 11
2.3 系統作動流程說明及設計概念 14
第三章 系統架構 17
3.2 仿生型攀爬機器人設計細節 19
3.2.2 仿生型攀爬機器人手臂(Arm) 20
3.2.3 仿生型攀爬機器人夾爪(Hand)及手指(Finger) 22
3.2.4 仿生型攀爬機器人本體(Body) 23
3.2.5 仿生型攀爬機器人尾巴(Tail) 25
3.3 ARDUINO DUE 控制板 26
3.4 L298N 直流馬達控制模組 27
3.5 HCTL-2032晶片電路 29
3.6 馬達規格及選用 31
3.7 氣動夾爪規格 32
第四章 機器人姿態分析 34
4.1 機器人自然擺盪頻率推導 34
4.2 機器人擺盪動態方程式推導 38
第五章 CAE軟體模擬 42
5.1 ADAMS概述 43
5.2 ADAMS模型建模 46
5.3 ADAMS模擬機器人擺盪 48
5.3.1 自由擺盪模擬環境條件設置結果討論 51
5.3.2 尾巴擺盪頻率吻合系統自然頻率 53
第六章 實驗結果 56
6.1 測試環境 56
6.2 單純給予尾巴命令 58
6.3 肩膀馬達輔助 61
6.3.1 策略一 62
6.3.2 策略二 85
6.4 機器人側向跳躍 107
第七章 結論及未來目標 114
7.1 結論 114
7.2 未來目標 116
參考文獻 118
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