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http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/21433完整後設資料紀錄
| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 莊嘉揚(Jia-Yang Juang) | |
| dc.contributor.author | Ying Lin | en |
| dc.contributor.author | 林穎 | zh_TW |
| dc.date.accessioned | 2021-06-08T03:33:56Z | - |
| dc.date.copyright | 2019-08-13 | |
| dc.date.issued | 2019 | |
| dc.date.submitted | 2019-08-05 | |
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| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/21433 | - |
| dc.description.abstract | 使用軟材料來製作機器人或是機器人零件在未來有很大的潛力。在我們研究中我們設計與製造了一種新型態的軟性機器人，其用途是可以在圓管管路中移動。在過去的大部份的爬管軟性機器人研究都用到了三節或三節以上的氣囊結構與驅動器來爬行。我們研究有別於過去的這種結構設計，我們僅使用單節r結構與單一曲動器來進行管內爬行，這樣能降低設氣壓設備數量、成本及複雜度。為了達到上述的效果，我們設計了一種長條形彈性薄片結構，透過壓縮薄片成特定形狀在釋放的過程帶動機器人移動，最終我們的機構達到能穩定爬行、垂直向上爬行、適應不同管徑與克服簡單彎道的效果。 | zh_TW |
| dc.description.abstract | Constituting robot with soft materials and complaint components has great potential in future robot design. In this thesis, we present a new type of soft robot which can crawl in the pipeline structure. Most of existing tube-crawling soft robot had three or more segments and actuators. Unlike previous research, we build up our robot with only one segment and one pneumatic actuator that lower the number, price and complexity of pneumatic equipment. To achieve this goal, we design a special elastic ribbon (stripe) structure. When the actuator compress and release these ribbons in the pipe, the deformation of ribbons propel the robot forward. Finally, Our robot achieve stable crawling, climbing vertical tube, diameter adaptability and turning in some types of elbow. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-08T03:33:56Z (GMT). No. of bitstreams: 1 ntu-108-R06522523-1.pdf: 6640930 bytes, checksum: d747c18ce53fce3a02881bd98c2897a3 (MD5) Previous issue date: 2019 | en |
| dc.description.tableofcontents | 誌謝 I
摘要 II 目錄 III 圖片目錄 V 表目錄 VII 符號表 VII CHAPTER 1 緒論 1 1.1 簡介與動機 1 1.2 主要目標: 3 1.3 論文摘要 3 CHAPTER 2 文獻回顧 4 2.1 軟性機器人 4 2.2 軟性機器人驅動方式 5 2.3 軸向變形氣壓驅動器 10 2.3.1 Mckibben氣壓驅動器運作原理 12 2.4 軟性機器於圓管中移動的研究 13 2.5 實驗室研究回顧 16 2.6 設計靈感來源 18 CHAPTER 3 實驗設備與材料 20 3.1 製造方法 20 3.1.1 3D列印 20 3.2.2 矽膠灌模 22 3.2 製作材料 24 3.2.1 NinjaFlex ( TPU, 人工橡膠) 24 3.2.2 Ecoflex 00-30 25 3.2.3 橡膠管 26 3.2.4 PDMS 26 3.3 實驗設備 27 3.3.1 氣壓幫浦 27 3.3.2 電磁閥 29 3.3.3 Arduino UNO 30 3.3.4 氣壓感測器及壓力感測器 31 CHAPTER 4 軟性爬管機器人設計 34 4.1 運動原理 34 4.1.1 構想與整體設計流程 34 4.1.2 基本運動流程 36 4.1.3 設計優缺點 38 4.2 機構設計 39 4.2.1 全零件概述 39 4.2.2 薄片結構 41 4.2.3 摩擦力橡膠套 44 4.2.4 Mckibben氣壓驅動器 45 4.2.5 鏈結 47 4.3 電路與氣壓路徑 48 4.3.1 電路與氣壓架構 48 4.3.2 電路 49 4.4 有限元素軟體模擬 50 4.4.1 薄片壓縮變形模擬 50 4.4.2 薄片壓縮觸牆變形模擬 51 CHAPTER 5 結果與討論 54 5.1主要測量環境與摩擦力 54 5.1.1 靜摩擦係數 54 5.1.2 薄片傾斜面斜面摩擦力量測與正向力變化量測 56 5.2 前進平均速度 58 5.2.1 直線爬行速度量測與週期參數調整 58 5.2.2 不同管徑下爬行距離與有限元素軟體預測 60 5.3氣體壓力量測 63 5.4彎道 66 5.4.1 彎頭類型與設計 66 5.4.2 90°的平滑彎管及45°度一般彎頭 68 5.5 氣管長度對效能影響 72 CHAPTER 6 結論與未來展望 74 參考文獻 76 | |
| dc.language.iso | zh-TW | |
| dc.title | 單驅動器軟性爬管機器人 | zh_TW |
| dc.title | Single-Actuator Soft Robot for In-pipe Traveling | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 107-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 李明蒼(Ming-Tsang Lee),蔡佳霖(Jia-Lin Tsai),楊燿州(Yao-Joe Joseph Yang) | |
| dc.subject.keyword | 軟性機器人,管路內,薄片,單驅動器,氣壓驅動,爬行, | zh_TW |
| dc.subject.keyword | Soft Robot,In-Pipe,Ribbon,Single-Actuator,Pneumatic,Crawling, | en |
| dc.relation.page | 80 | |
| dc.identifier.doi | 10.6342/NTU201902449 | |
| dc.rights.note | 未授權 | |
| dc.date.accepted | 2019-08-05 | |
| dc.contributor.author-college | 工學院 | zh_TW |
| dc.contributor.author-dept | 機械工程學研究所 | zh_TW |
| 顯示於系所單位： | 機械工程學系 | |
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