自平衡雙輪跳躍機器人之開發

Abstract

本論文提出了一個可跳躍的雙輪平衡移動機器人，此機器人具有體積小、零迴轉半徑等優勢。在此雙輪機器人的結構上加入跳躍功能，可使其克服各地形障礙，大幅增加機動性。 本研究所提出之機器人分成兩部分，包含達成跳躍功能之機構以及移動平衡系統。機器人之跳躍機構主要包含圓柱形凸輪、彈簧以及插銷。藉由驅動馬達帶動凸輪轉動，彈簧將會被壓縮並儲存其彈性位能。彈簧釋放後，彈性位能將轉換為動能，致使整體機器人瞬間向上跳躍。移動平衡系統由感測器及直流馬達組成，控制器將藉感測器偵測系統的傾斜姿態，並以LQR控制方法計算馬達所需的輸出以保持系統平衡。改變系統目標角度可使機器人以移動的方式保持平衡，以此實現移動功能。 本論文針對跳躍及雙輪自平衡等理論進行討論，以此設計可達成雙輪平衡及跳躍功能之機構。此外亦推導了系統模型，以此作為控制器的設計依據。本研究量測了此機器人的平衡、移動、以及跳躍的性能，並對結果進行討論。結果顯示，本機器人具有良好的平衡移動表現，並可順利地越過障礙物。

This thesis presents the development and characterization of a two-wheeled self-balancing jumping robot, which features advantages such as small footprint and zero turning radius. The two-wheeled self-balancing robot, which is integrated with a jumping mechanism, is capable of leaping over obstacles and exhibits excellent maneuverability. The proposed robot consists of two mechanical structures: the jumping mechanism and the balancing-translation system. The jumping mechanism mainly consists of a cylindrical cam, a spring, and a latch. As a DC motor drives the cam, the spring is compressed and stores elastic energy. As the spring is released, the stored elastic energy is converted into kinetic energy which makes the robot jump upward impulsively. The balancing-translation system consists of an inertial measurement unit (IMU) and two DC motors with encoders. To keep the robot balanced, the controller estimates the output of the motors with LQR method by applying the attitude data measured by the sensors. Translational motions of the robot are achieved by changing the target angle which makes the robot move to keep balanced. In order to design a proper mechanism which can accomplish the capabilities of self-balancing and jumping, analytical models of jumping mechanism and self-balancing control are derived. In addition, the dynamic system is also modeled for the controller design. In this thesis, the performance of self-balancing motions, translational motions, and jumping features are measured and discussed. The proposed self-balancing jumping robot possesses the abilities to overcome obstacles and travel through rough terrains.