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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 楊燿州 | |
| dc.contributor.author | Yu-Yang Chang | en |
| dc.contributor.author | 張宇揚 | zh_TW |
| dc.date.accessioned | 2021-06-17T01:14:59Z | - |
| dc.date.available | 2019-08-25 | |
| dc.date.copyright | 2017-08-25 | |
| dc.date.issued | 2017 | |
| dc.date.submitted | 2017-08-14 | |
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Utsunomiya, 'Microstructures and mechanical properties of 6061 aluminum alloy processed by accumulative roll-bonding,' Materials Science and Engineering A325, pp. 228-235, 2002. [32] http://tw.misumi-ec.com/. [33] https://www.arduino.cc/. [34] http://www.shayangye.com/. [35] https://www.pololu.com/. [36] http://www.st.com/. [37] https://www.invensense.com/. [38] Paul Horowitz and Winfield Hill, The Art of Electronics, 3rd ed. 1989. [39] Rich Chi Ooi, 'Balancing a Two-Wheeled Autonomous Robot,' 2003. [40] Wei An and Yangmin Li, 'Simulation and Control of a Two-wheeled Self-balancing Robot,' in Proceeding of the IEEE International Conference on Robotics and Biomimetics, 2013. | |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/66926 | - |
| dc.description.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。 | zh_TW |
| dc.description.abstract | 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. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-17T01:14:59Z (GMT). No. of bitstreams: 1 ntu-106-R04522726-1.pdf: 4689320 bytes, checksum: fa2e547f442a4100436e6fb5174716ac (MD5) Previous issue date: 2017 | en |
| dc.description.tableofcontents | 摘要 I
Abstract II 目錄 III 圖目錄 VI 符號表 X 第一章 緒論 1 1.1 前言 1 1.2 文獻回顧 2 1.2.1 移動式機器人 2 1.2.2 跳躍式機器人 6 1.2.3 可跳躍之移動機器人 13 1.3 研究動機與目的 15 1.4 論文架構 16 第二章 理論與設計 17 2.1 前言 17 2.2 跳躍能量理論 18 2.3 傾斜姿態角度估算 20 2.3.1 尤拉角法 (Euler angle) 23 2.3.2 四元數法 (Quaternion) 26 2.4 凸輪彈簧機構 28 2.5 整體設計 35 2.5.1 整體架構 35 2.5.2 移動平衡機構 38 2.5.3 彈跳機構 40 第三章 驅動控制及感測系統 43 3.1 前言 43 3.2 核心處理器 44 3.3 馬達 46 3.4 驅動控制 50 3.5 感測器 52 第四章 控制器設計 56 4.1 系統模型 56 4.2 LQR控制方法 62 4.3 移動控制 66 4.4 彈跳控制 68 4.5 移動跳躍控制 71 第五章 實驗量測與討論 72 5.1 平衡移動實驗 72 5.1.1 原地平衡 73 5.1.2 外部擾動 75 5.1.3 移動控制 77 5.2 垂直跳躍實驗 79 5.2.1 跳躍高度量測 79 5.2.2 空中姿態控制 82 5.3 移動跳躍實驗 85 5.3.1 移動跳躍控制量測 85 5.3.2 移動跳躍 86 第六章 結論與未來展望 89 6.1 結論 89 6.2 未來展望 90 參考文獻 91 | |
| dc.language.iso | zh-TW | |
| dc.subject | 雙輪機器人 | zh_TW |
| dc.subject | 自平衡 | zh_TW |
| dc.subject | 凸輪 | zh_TW |
| dc.subject | 跳躍機器人 | zh_TW |
| dc.subject | jumping robot | en |
| dc.subject | cam | en |
| dc.subject | self-balancing | en |
| dc.subject | two-wheeled robot | en |
| dc.title | 自平衡雙輪跳躍機器人之開發 | zh_TW |
| dc.title | Development of a two-wheeled self-balancing jumping robot | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 105-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 蘇裕軒,陳國聲 | |
| dc.subject.keyword | 跳躍機器人,凸輪,自平衡,雙輪機器人, | zh_TW |
| dc.subject.keyword | jumping robot,cam,self-balancing,two-wheeled robot, | en |
| dc.relation.page | 95 | |
| dc.identifier.doi | 10.6342/NTU201703246 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2017-08-15 | |
| 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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