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http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/7427完整後設資料紀錄
| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 周瑞仁(Jui-Jen Chou) | |
| dc.contributor.author | Yi-Ying Hsieh | en |
| dc.contributor.author | 謝易穎 | zh_TW |
| dc.date.accessioned | 2021-05-19T17:43:24Z | - |
| dc.date.available | 2023-08-21 | |
| dc.date.available | 2021-05-19T17:43:24Z | - |
| dc.date.copyright | 2018-08-21 | |
| dc.date.issued | 2018 | |
| dc.date.submitted | 2018-08-19 | |
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| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/7427 | - |
| dc.description.abstract | 本研究主旨是在開發一輪足混合式機器人，做為移動機器人使用，目標是能夠代替人類進入各式各樣的應用場合當中，協助人類完成特定的任務。為了達成此一目的，機器人平台需能夠自由地運行於平坦地形、斜坡地形、階梯地形與不平坦地形等多樣地形中。機器人平台包含機體、四個輪部與兩個足部，其中機體與足部可構成一四連桿機構，使平台能夠翻越不平坦地形。根據這個設計理念，機器人平台不僅可以在平坦地形上使用輪式運動模式快速移動，也可以在不平坦地形上使用足式運動模式跨越。輪部位於機體底部，包含有兩顆主動輪與兩顆被動輪，用於在平坦的地形上移動，如平地地形或斜坡地形。足部位於機體的兩側，同一側包含有兩個連接桿與一個支撐桿，用於上下階梯或在不平坦的地形上移動。此研究最後更引入了零力矩點的概念以確保機器人平台於運行中能夠隨時保持穩定，以模擬證明機器人平台可以在臺灣行政院內政部營建署建築技術規則所規範的樓梯與斜坡規格，以及其他多元地形下穩定運行不傾倒。 | zh_TW |
| dc.description.abstract | This research developed a wheel-legged hybrid robot as a mobile robot. The goal of the design is to make the robot substituted for human in various applied occasions and assist human in specific tasks. To reach this goal, the robot platform should be adapted to a variety of environment, such as flat ground, ramp, stairways, and rugged roads. The robot platform consists of a body with four wheels and two legs. The body and the legs form a four-bar linkage mechanism, which enables the robot platform to wander on uneven terrains. With this design idea, the robot platform can not only move swiftly on the even terrains with the wheels but also be adapted to the uneven terrains with the legs. The Body has two active wheels on the front and two passive wheels on the rear, which is used for moving on the even terrains, such as the flat grounds and the ramps. The two legs are set on the two sides of the body. Each side of the leg includes two linkages and one supporting rods, which is used for climbing the stairs and moving on the uneven terrains. The study also introduced the concept of Zero-Moment Point (ZMP) to ensure that the robot platform can keep stable while moving. The simulations is conducted to prove that the robot can climb the stairs and ramps in buildings, which regulated by Taiwanese building regulations, without overturning. | en |
| dc.description.provenance | Made available in DSpace on 2021-05-19T17:43:24Z (GMT). No. of bitstreams: 1 ntu-107-R04631010-1.pdf: 3455823 bytes, checksum: cd0aa02b8ac436f75ee163e6a3122e9e (MD5) Previous issue date: 2018 | en |
| dc.description.tableofcontents | 致謝 i
摘要 iii Abstract iv 目錄 v 圖目錄 vii 表目錄 x 符號表 xi 第1章 前言 1 第2章 文獻回顧 2 2.1 輪足混合式機器人 2 2.1.1 輪部安裝於足部的尾端 2 2.1.2 足部安裝於輪部的尾端 4 2.1.3 輪部與足部藉由轉換機構切換 5 2.1.4 輪部與足部分別獨立安裝 6 2.2 零力矩點的發展 7 第3章 材料與方法 9 3.1 機器人平台 10 3.1.1 機體 11 3.1.2 足部 12 3.1.3 輪部 15 3.2 足式運動模式 17 3.2.1 多元地形爬行週期 17 3.2.2 足部設計 21 3.2.3 足部馬達扭力分析 29 3.2.4 足部支撐桿之靜摩擦力分析 36 3.2.5 平台質心位置分析 38 3.2.6 零力矩點分析 42 3.3 輪式運動模式 46 3.3.1 平地與斜坡直線前進 46 3.3.2 輪部馬達扭力分析 47 3.3.3 平台質心位置分析 52 3.3.4 零力矩點分析 54 第4章 結果與討論 57 4.1 平台參數設計 57 4.2 足式運動模式模擬 62 4.2.1 上下階梯模擬 62 4.2.2 平地模擬 67 4.2.3 上斜坡模擬 72 4.2.4 下斜坡模擬 74 4.3 輪式運動模式模擬 76 4.3.1 平地直進模擬 76 4.3.2 上斜坡直進模擬 78 4.3.3 下斜坡直進模擬 79 第5章 結論與建議 81 參考文獻 82 | |
| dc.language.iso | zh-TW | |
| dc.title | 輪足混合式四連桿機器人之設計與分析 | zh_TW |
| dc.title | Design and Analysis of a Wheel-Legged Hybrid Four-Bar Linkage Robot | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 106-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 顏炳郎(Ping-Lang Yen),葉仲基(Chung-Kee Yeh) | |
| dc.subject.keyword | 輪足混合式機器人,移動機器人,越障機器人,階梯攀爬,零力矩點, | zh_TW |
| dc.subject.keyword | Wheel-Legged Hybrid Robot,Mobile Robot,Multi-Terrain Robot,Stair Climbing,Zero-Moment Point (ZMP), | en |
| dc.relation.page | 88 | |
| dc.identifier.doi | 10.6342/NTU201803829 | |
| dc.rights.note | 同意授權(全球公開) | |
| dc.date.accepted | 2018-08-19 | |
| dc.contributor.author-college | 生物資源暨農學院 | zh_TW |
| dc.contributor.author-dept | 生物產業機電工程學研究所 | zh_TW |
| dc.date.embargo-lift | 2023-08-21 | - |
| 顯示於系所單位： | 生物機電工程學系 | |
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