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研究生:王浩綸
研究生(外文):WANG, HAO-LUN
論文名稱:基於陀螺效應之橢球型機器人的控制與開發
論文名稱(外文):Control and Development of Ellipsoid Robot Based on Gyro Effect
指導教授:許宏銘許宏銘引用關係
指導教授(外文):Norbert Michael Mayer
口試委員:徐超明莊貴枝
口試委員(外文):HSU, CHAO-MINGCHUANG, KUEI-CHIH
口試日期:2022-07-14
學位類別:碩士
校院名稱:國立中正大學
系所名稱:電機工程研究所
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2022
畢業學年度:110
語文別:英文
論文頁數:65
中文關鍵詞:自動化機器人球形機器人陀螺效應慣性致動器Dynamixel伺服馬達
外文關鍵詞:Autonomous robotSpherical RobotGyroscopic effectInertia actuatorDynamixel servo motor
相關次數:
  • 被引用被引用:0
  • 點閱點閱:96
  • 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:1
中文摘要 I
ABSTRACT II
ACKNOWLEDGMENTS III
CONTENTS IV
LIST OF FIGURES VI
LIST OF TABLES IX
I.INTRODUCTION 1
1.1 Background 1
1.2 Related Research 2
II. ENVIRONMENT AND THEORY 5
2.1 Development Environment 5
2.1.1 Computer-Aided Design 5
2.1.2 3D Printer 6
2.1.3 DC Brushless Motor 7
2.1.4 Servo Motor 9
2.1.5 Inertial Measurement Unit 11
2.1.6 Controller 12
2.2 Gyroscope Theory 13
2.2.1 Conservation of Angular Momentum 13
2.2.2 Gyroscopic Inertia 14
2.2.3 Precession 15
III. ROBOT DESIGN AND CONTROL PRINCIPLE 18
3.1 Robot Structure Design 18
3.1.1 Gyro (rotor) 18
3.1.2 Inner Structure 23
3.1.3 Outer Structure 28
3.1.4 System Circuit Configuration 29
3.2 Control Principle 31
3.2.1 Gyroscopic Effect of Ellipsoid Robot 31
3.2.2 Object Tracking 32
IV. EXPERIMENT 34
4.1 OVERVIEW 34
4.2 Robot Tracking 36
4.3 Servo Motor Control (Dynamixel MX-64) 38
4.4 Observation Data and Motion Control Methods 40
4.4.1 Previous Research and Basic Movement Observations 40
4.4.2 Start and Straight Action 42
4.4.3 Turning Action 46
V. CONCLUSION 52
REFERENCE 53
VITA 55

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[10]C.-C. Wang, N. M. Mayer, R.-Y. Lin, and L.-Y. Lu, "Mechanical and system design of Egg shape robot," in 2017 International Automatic Control Conference (CACS), 2017: IEEE, pp. 1-5.
[11]I. Autodesk. "The official webpage of AutoCAD." https://www.autodesk.com.tw/ (accessed.
[12]M. Industries. "The official website of Makerbot." https://www.makerbot.com/ (accessed.
[13]"Maxon EC 45 flat product specifications." https://www.maxongroup.com/maxon/view/product/339282 (accessed.
[14]ROBOTIS. "DYNAMIXEL MX-64AR product introduction." https://emanual.robotis.com/docs/en/dxl/mx/mx-64/ (accessed.
[15]Witmotion. "JY901 product introduction." http://wiki.wit-motion.com/doku.php?id=welcome (accessed.
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[17]J. B. Scarborough, The Gyroscope. Interscience Publ., 1958.
[18]T. Náhlík and D. Smetanová, "Applications of gyroscopic effect in transportation," NAŠE MORE: znanstveni časopis za more i pomorstvo, vol. 65, no. 4 Special issue, pp. 293-296, 2018.
[19]R. Usubamatov, "Gyroscopic Effects in Engineering," in Theory of Gyroscopic Effects for Rotating Objects: Springer, 2020, pp. 1-15.
[20]R. Usubamatov, "Mathematical models for principles of gyroscope theory," in AIP Conference Proceedings, 2017, vol. 1798, no. 1: AIP Publishing LLC, p. 020133.

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