請用此 Handle URI 來引用此文件：
http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/49130完整後設資料紀錄
| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 高國傑(Guo-Jie Jason Gao) | |
| dc.contributor.author | Po-Yi Lee | en |
| dc.contributor.author | 李柏毅 | zh_TW |
| dc.date.accessioned | 2021-06-15T11:16:51Z | - |
| dc.date.available | 2016-08-25 | |
| dc.date.copyright | 2016-08-25 | |
| dc.date.issued | 2016 | |
| dc.date.submitted | 2016-08-19 | |
| dc.identifier.citation | [1] Bruno Andreotti, Yoe ̈l Forterre, and Olivier Pouliquen. Granular Media Between Fluid and Solid. Cambridge, 2013.
[2] Takashi Shimada, Dirk Kadau, Troy Shinbrot, and Hans J. Hermann. Swimming in granular media. Physical Review E, 80(2):020301, 2009. [3] RyanD.Maladen,YangDing,ChenLi,andDanielI.Goldman.Undulatoryswimming in sand:subsurface locomotion of thesandfish lizard. Science, 325:314–318, 2009. [4] ChenLi,PaulB.Umbanhowar,HaldunKomsuoglu,DanielE.Koditschek,andDaniel l. Goldman. From the cover: Sensitive dependence of the motion of a legged robot on granular media. Science, 106:3029–3034, 2009. [5] A. G. Winter, R. L. H. Deits, D. S. Dorsch, A. H. Slocum, and A. E. Hosoi. Razor clam to roboclam: burrowing drag reduction mechanisms and their robotic adaptation. Bioinspiration & Biomimetics, 9(3):036009, 2014. [6] Francois Guillard, Yoe ̈l Forterre, and Olivier Pouliquen. Depth-independent drag force induced by stirring in granular media. Physical Review Letter, 110(13):118303, 2013. [7] Yuka Takehara and Ko Okumura. High-velocity drag friction in granular media near the jamming point. Physical Review Letters, 112(14):148001, 2014. [8] Massimo Pica Ciamarra and Antonio H. Lara et al. Dynamics of drag and force distri- butions for projectile impact in a granular medium. Physical Review Letters, 92(19): 194301, 2004. [9] Po-Yi Lee, Meng-Chi Tsai, I-Ta Hsieh, Ping-Ju Zeng, Fu-Ling Yang, and Guo-Jie Ja- son Gao. Vehicle with a dual-wheel steering system in shallow dense granular media. in preparation, 2016. | |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/49130 | - |
| dc.description.abstract | 在此研究中、我們設計一搭載二輪轉向機構的機械車。此機械車能 在由大量乒乓球組成的密集粉粒體介質中自由移動。文獻裡、實驗觀 察到在二維密集粉粒體介質中一快速移動的物體前方會形成力學滯塞 (jamming) 的區域。和無搭載此轉向機構的車輛相比、此轉向機構能夠 接觸並局部破壞此力學滯塞的區域、讓機械車能夠更快速地在粉粒體 介質中運動以及控制其行進方向。我們並介紹在三維的實驗環境中、 車輛在重力輔助下運動的初步研究成果。 | zh_TW |
| dc.description.abstract | In this study, we design a vehicle equipped with a dual-wheel steering system and able to freely move in a dense granular medium of ping-pong balls. Experimentally, it has been shown that there exists a jammed area in front of a fast-moving object in 2D dense granular media. Able to engage and break this jammed area locally, the steering system allows the vehicle to move faster than without it and change the vehicle’s direction at will. We also present preliminary results of the vehicle moving with the assistance of gravity in a 3D environment. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-15T11:16:51Z (GMT). No. of bitstreams: 1 ntu-105-R03522124-1.pdf: 14412865 bytes, checksum: 932d5dc9d5d2ff1ca0a31781c2f15e2b (MD5) Previous issue date: 2016 | en |
| dc.description.tableofcontents | 口試委員會審定書 i
誌謝 ii 中文摘要 iii Abstract iv 符號表 v 目錄 vii 圖目錄 viii 表目錄 ix 1 導論 1 1.1 前言..................................... 1 1.1.1 粉粒體材料介紹.......................... 1 1.1.2 研究動機.............................. 2 1.2 研究目的.................................. 3 1.3 文獻回顧.................................. 3 2 實驗設置 5 2.1 實驗方法.................................. 5 2.2 實驗環境設置 ............................... 7 2.2.1 水平平面設置........................... 8 2.2.2 傾斜平面設置........................... 9 2.3 實驗機械車設置.............................. 11 2.3.1 機械車規格 ............................ 12 2.3.2 轉向機構規格........................... 14 2.4 實驗量測器材 ............................... 18 2.5 實驗數據計算 ............................... 21 2.5.1 計算速度分佈........................... 21 2.5.2 計算垂直偏移量.......................... 22 2.5.3 無因次化單位........................... 23 2.6 實驗誤差與器材校正 ........................... 24 2.6.1 實驗平面誤差校正 ........................ 24 2.6.2 機械車及二輪轉向機構使用電池誤差校正 ........... 26 2.6.3 機械車本身的性能校正...................... 26 3 實驗結果與討論 28 3.1 水平平面實驗結果............................. 28 3.1.1 不同堆積密度對機械車運動造成的影響 ............ 29 3.1.2 水平平面實驗中機械車的平均速度分析 ............ 30 3.1.3 水平平面實驗中機械車垂直偏移量分析 ............ 32 3.2 傾斜平面實驗結果............................. 34 3.2.1 傾斜平面實驗中機械車平均速度分佈分析 ........... 35 3.2.2 傾斜平面實驗中機械車垂直偏移量分析 ............ 36 3.3 比較水平平面與傾斜平面的實驗結果.................. 38 4 結論與未來展望 40 4.1 實驗結論.................................. 40 4.2 未來展望.................................. 42 附錄 A 43 A.1 二輪轉向機構使用不同馬達驅動..................... 43 A.2 二輪轉向機構使用不同轉速 ....................... 46 參考文獻 49 | |
| dc.language.iso | zh-TW | |
| dc.subject | 二輪轉向機構 | zh_TW |
| dc.subject | 粉粒體介質 | zh_TW |
| dc.subject | 力學滯塞 | zh_TW |
| dc.subject | 堆積密度 | zh_TW |
| dc.subject | 阻力 | zh_TW |
| dc.subject | dual-wheels steering system | en |
| dc.subject | granular media | en |
| dc.subject | jamming | en |
| dc.subject | packing density | en |
| dc.subject | drag force | en |
| dc.title | 搭載二輪轉向機構之車輛於準二維密集球體介質中行進及降坡性能之研究 | zh_TW |
| dc.title | Vehicle moving with the assistance of gravity and a dual-wheel steering system in shallow dense granular media | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 104-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.coadvisor | 楊馥菱(Fu-Ling Yang) | |
| dc.contributor.oralexamcommittee | 吳明勳(Ming-Hsun Wu) | |
| dc.subject.keyword | 粉粒體介質,力學滯塞,堆積密度,阻力,二輪轉向機構, | zh_TW |
| dc.subject.keyword | granular media,jamming,packing density,drag force,dual-wheels steering system, | en |
| dc.relation.page | 50 | |
| dc.identifier.doi | 10.6342/NTU201603200 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2016-08-20 | |
| 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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|---|---|---|---|
| ntu-105-1.pdf 未授權公開取用 | 14.08 MB | Adobe PDF |
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