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研究生:楊宗翰
研究生(外文):Zong-Han Yang
論文名稱:橫向飛躍抓枝機器人之設計改良與運動控制研究
論文名稱(外文):Improved Design and Motion Control of a Transverse Ricochetal Brachiation Robot
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:郭重顯林沛群
口試委員(外文):Chung-Hsien KuoPei-Chun Lin
口試日期:2018-07-19
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:2018
畢業學年度:106
語文別:中文
論文頁數:124
中文關鍵詞:橫向飛躍抓技機器人身軀姿態補償參數最佳化仿人式夾爪
外文關鍵詞:Transverse ricochetal brachiation robotBody posture compensationParameter optimizationAnthropomorphic gripper
相關次數:
  • 被引用被引用:7
  • 點閱點閱:221
  • 評分評分:
  • 下載下載:0
  • 收藏至我的研究室書目清單書目收藏:2
摘要
橫向飛躍握桿是一種模仿運動員以手指抓持突出壁面之橫桿的方式反覆擺盪後飛躍並抓握目標桿的特殊動作。本論文主要在探討本實驗室所開發之第二代與第三代橫向飛躍抓技機器人系統設計與運動控制效能。在機構設計部分,我們以參數最佳化方式求得滿足目標飛躍距離的機構參數與重量配置。為了在擺盪階段能以單獨擺盪尾巴的方式進行系統激振,我們以電磁離合器實現手臂的可變剛性切換並設計一具急放功能的仿人式電動夾爪使其提供足夠夾持力,藉此完成擺盪階段的能量累積並切換至飛躍階段。系統激振所需之尾巴參考輸入亦為根據機器人擺盪階段動態模型以最佳化方式求得。為了改善機器人在滯空飛躍因身軀旋轉造成的影響,本研究以推導之滯空動態模型分別探討以開迴路姿態補償與閉迴路姿態補償對於機器人身軀姿態調整的效果。模擬與實驗結果皆證實使用閉迴路身軀姿態補償可有效改善飛行姿態與飛躍距離,結合合適之手臂擺動策略則可獲得最理想之飛躍距離與著陸成功率。
Abstract
Transverse ricochetal brachiation is a unique locomotion style that mimics the sport players to swing their bodies with hands held on the ledges on the wall and then release their hands to fly and grab the targeted ledge. This thesis aims to present the development and motion control of second and third generation of transverse ricochetal brachiation robots (TRBR). For the mechanism part, the design parameters are obtained by formulating an optimization method with the goal of reaching maximum flying distance. A variable stiffness design equipped with electromagnets is applied to implement the mechanical resonance excitation by solely swinging the designed tail during swing phase and enable tight arm-and-body engagement during flying phase. Particularly, the electrically driven anthropomorphic grippers are designed to satisfy the required holding forces and quick-releasing functionality so that the kinetic energy accumulated during swing phase can be smoothly transferred to the flying phase for desired locomotive behaviors. The reference trajectory of the robot tail for resonance excitation is obtained through an optimization method based on the dynamic model during swing phase. The dynamic model during flying phase is derived to elucidate the effects of midair body rotation and applied to develop various kinds of body posture compensation methods for deeper investigation. Simulation and experiments demonstrate that the proposed body posture compensation method based on the successive loop closure design can effectively improve the flying posture and traveled distance. Moreover, the proper integration of arm swing motion strategy can achieve the largest flying distance and highest success rate of robot landing.
目錄
摘要 I
Abstract II
致謝 III
目錄 IV
圖目錄 VI
表目錄 X
第1章 緒論 1
第2章 系統構想與參數設計 8
2.1 橫向擺盪跳躍機器人作動流程分析 8
2.3 第二代橫向飛躍機器人機構參數設計 12
2.4 第三代橫向飛躍機器人參數設計 14
第3章 系統架構 19
3.1 機器人動力傳動配置 21
3.1 機器人夾爪 23
3.2 值流馬達選用 26
3.3 直流馬達參數識別 33
3.3.1 直流馬達動態方成 33
3.3.2 直流馬達參數識別實驗平台架設 35
3.3.3 直流馬達參數識別實驗 37
3.2 機器人嵌入式電路設計 42
3.2.1 系統控制晶片 43
3.2.2 馬達驅動模組電路 45
3.2.3 馬達編碼器解碼電路 47
3.2.4 慣性量測單元(IMU)感測器 49
3.2.5 夾爪力量感測器 51
3.1.1 SRAM與SD卡 54
第4章 系統模型推導 57
1.1 橫向飛躍機器人擺盪模型推導 57
4.2 橫向跳躍機器人滯空模型推導 61
第5章 系統動態分析 68
5.1 機器人擺盪姿態控制模擬 68
5.2 機器人滯空姿態控制模擬 70
5.2.1 身軀姿態估測 70
5.2.2 滯空姿態控制器設計 72
5.2.3 滯空姿態控制器模擬 75
第6章 擺盪橫向飛躍實驗 82
6.1 第二代機器人橫向飛躍實驗 82
6.1.1 第二代機器人實驗架設 82
6.1.2 第二代機器人擺盪階段實驗 83
6.1.3 第二代機器人橫向飛躍實驗 84
6.2 第三代機器人橫向飛躍實驗 88
6.2.1 第三代機器人實驗架設 88
6.1.1 第三代機器人橫向飛躍實驗 90
第7章 結論與未來目標 104
參考文獻 106
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