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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 | Li-Han Pan | en |
dc.contributor.author | 潘立翰 | zh_TW |
dc.date.accessioned | 2021-07-11T14:42:46Z | - |
dc.date.available | 2026-08-20 | |
dc.date.copyright | 2016-08-24 | |
dc.date.issued | 2016 | |
dc.date.submitted | 2016-08-15 | |
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International Journal of Robotics Research. pp. 616-631. Shen, S. Y., C. H. Li, C. C. Cheng, J.C. Lu, S. F. Wang, and P.C. Lin. 2009. Design of a Leg-Wheel Hybrid Mobile Platform. International Conference on Intelligent Robots and Systems. pp. 4682-4687. Tadakuma, K., R. Tadakuma, A. Maruyama, E. Rohmer, K. Nagatani, K. Yoshida, A. Ming, M. Shimojo, M. Higashimori, and M. Kaneko. 2010. Mechanical design of the Wheel-Leg hybrid mobile robot to Realize a Large Wheel Diameter. International Conference on Intelligent Robots and Systems. pp. 3358-3365. | |
dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/78117 | - |
dc.description.abstract | 本論文旨在提升輪爪變形機器人於爪式運動模式時的爬階性能,以及輪式運動模式時的操控表現。此研究延續團隊先前所發展之輪爪變形架構,針對軟、硬體提出創新與改良。改良後的折疊轉換機構使得變形過程大幅簡化,只需要抬升與降下前機體後,保持爪形或是形成合成輪即可,轉換過程較不受地形因素影響。在分析前代二階跨距機器人之幾何規格以及其爪式爬階性能後,提出加長機體長度的三階跨距機器人,以改變質心與接地支持多邊形之相對位置,大幅提升爬階穩定度。此外,大幅縮減前後馬達扭矩之差異,讓馬達負載更為均衡。在輪式運行中,特殊的合成輪以接地輪爪和懸空輪爪形成,兩者分別以轉速控制符合差速運行之移動速度與迴轉半徑,以及角度追蹤控制保持合成輪成立,最後加入航向角誤差回授機制,能更精準地控制機器人在實際環境之方位。由爬階性能模擬可得,三階跨距機器人較二階跨距機器人之爬階性能較佳。在輪式轉向模擬中,根據設定的移動速度與迴轉半徑,可得到接地輪爪轉速值以及週期比。由爪式轉換至輪式實驗中,可證實折疊轉換過程之可行性,並較前代系統之操作簡單。在爬階實驗中,機器人依照爬階策略可更穩定地攀爬階梯。於輪式運行實驗中,加入航向角誤差回授機制後,機器人可更準確地追蹤目標航向,並大幅減少與預設路徑之誤差。 | zh_TW |
dc.description.abstract | This thesis develops the Claw-Wheel transformable robot that enhances the stair climbing performance in claw mode and maneuverability in wheel mode. The concept follows the Claw-Wheel transformable structure as the research group before, and focus on the innovation and improvement of the hardware and software. The improvement of the transformation mechanism simplifies the transformation process, which just lifts the front body up and lay the front body down to the ground, and forms the claws or composite wheels; the process would not be much affected by the rough terrain. After analyzes the geometric specification and stair climbing performance of the robot striding two steps in last version, this research develops the robot with extended body length for striding three steps. Thus, the relative position of the mass of center to the support polygon is changed, and the stability of stair climbing is more enhanced. Besides, the difference of the required torques between the front and rear motors could be narrowed down and more balanced. In the movement of the wheel mode, the driving wheels are formed with the claws in stance and claws in flight; the claws in stance are controlled by the speed control for following the speed of movement and radius of gyration in differential drive, and the claws in flight are controlled by the angle-tracking control for forming the driving wheels. Finally, the switching control strategy with yaw feedback make the robot track the desired orientation more correctly. In the simulation of stair climbing performance, the robot striding three steps has better climbing performance than striding two steps. In the simulation of differential drive, the movement of speed and radius of gyration are set, and the angular velocities and period ratio of the claws in stance can be computed. The experiment of the claw mode transforming to wheel mode verifies the feasibility of transformation process, and the process is more simplified than before. In the experiment of the stair climbing, the robot climbs the stairs more steadily under the stair climbing strategy. In the experiment of the differential drive, after adding the yaw feedback, the robot tracks the desired yaw angle more accurately, and reduces the errors of the expected path. | en |
dc.description.provenance | Made available in DSpace on 2021-07-11T14:42:46Z (GMT). No. of bitstreams: 1 ntu-105-R03631019-1.pdf: 3126956 bytes, checksum: d19dc028df79aba87f7f9050086eb926 (MD5) Previous issue date: 2016 | en |
dc.description.tableofcontents | 口試委員會審定書 I
致謝 II 摘要 III Abstract IV 目錄 VI 圖目錄 VIII 表目錄 X 符號表 XI Chapter 1 緒論 1 Chapter 2 文獻探討 2 2.1 輪足混合式機器人 3 2.2 機器人之爬階控制 5 Chapter 3 材料與方法 7 3.1 機器人設計概念 7 3.1.1 機器人架構 8 3.1.2 運動模式 10 3.1.3 輪爪機構 11 3.1.4 折疊轉換機構 12 3.2 機電系統 15 3.2.1 主控制系統 15 3.2.2 姿態感測系統 19 3.3 爪式爬階 20 3.3.1 輪爪與階梯幾何關係 21 3.3.2 機器人規格與爬階分析 24 3.3.3 爬階性能準則 27 3.3.4 爬階過程與控制 31 3.4 輪式運行 33 3.4.1 差速系統 34 3.4.2 雙合成輪差速控制 36 3.4.3 航向角誤差回授控制 40 Chapter 4 結果與討論 42 4.1 模擬 42 4.1.1 爬階模擬 42 4.1.2 輪式運行模擬 45 4.2 實驗 46 4.2.1 折疊轉換實驗 46 4.2.2 爪式爬階實驗 48 4.2.3 輪式運行實驗 50 Chapter 5 結論與建議 57 References 59 | |
dc.language.iso | zh-TW | |
dc.title | 輪爪變形機器人之爪式爬階性能與輪式操控策略 | zh_TW |
dc.title | Stair Climbing Performance in Claw Mode and
Control Strategy in Wheel Mode for Claw-Wheel Transformable Robot | en |
dc.type | Thesis | |
dc.date.schoolyear | 104-2 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 林沛群(Pei-Chun Lin),顏炳郎(Ping-Lang Yen),黃緒哲(Shiuh-Jer Huang),艾 群(Chyung Ay) | |
dc.subject.keyword | 混合式機器人,可變形機器人,移動式機器人,階梯攀爬,差速驅動, | zh_TW |
dc.subject.keyword | Hybrid robot,Transformable robot,Mobile robot,Stair climbing,Differential drive, | en |
dc.relation.page | 62 | |
dc.identifier.doi | 10.6342/NTU201602606 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2016-08-16 | |
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 | 2026-08-20 | - |
顯示於系所單位: | 生物機電工程學系 |
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