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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 林沛群 | zh_TW |
| dc.contributor.advisor | Pei-Chun Lin | en |
| dc.contributor.author | 王華豫 | zh_TW |
| dc.contributor.author | Hua-Yu Wang | en |
| dc.date.accessioned | 2023-10-03T16:47:58Z | - |
| dc.date.available | 2023-11-09 | - |
| dc.date.copyright | 2023-10-03 | - |
| dc.date.issued | 2023 | - |
| dc.date.submitted | 2023-08-08 | - |
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| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/90598 | - |
| dc.description.abstract | 本文主要探討新型輪腳複合式平台於輪腳轉換時之軌跡規劃以及穩定度分析，新型輪腳複合式平台搭載之輪腳機構為五連桿內接七連桿的雙自由度機構，能夠在輪模式以輪機構移動並且於腳模式使用一般四足機器人常見之步態移動，但複雜的構型也使其在運動學計算上較為困難，為了使機器人能夠於兩種模式中順暢且平穩的切換，本研究首先離線規劃單足之輪腳轉換軌跡，以平穩且有效率切換為目的，藉由順向運動學大量生成軌跡後由成本函數篩選出最符合要求之軌跡。
在機器人的模式切換上，輪模式與腳模式之作動範圍並不相同，進行模式切換需對齊各輪足機構之相位，本研究提出一種輪腳轉換規劃演算法，分配各腳在輪腳轉換過程中的行為以及軌跡，在持續前進的同時完成各輪足機構之相位對齊，以完成快速且平穩的轉換，過程中機器人並不會產生轉向以及打滑的多餘動態，並且演算法內之參數可依照機器人所處情境更改，以增加其應用彈性。本研究同時使用力角穩定性分析判斷機器人於輪腳轉換過程之穩定性，並且以此進行踏點以及機身動態的修改，使機器人順暢完成轉換，並且平穩進入中樞模式產生器以銜接腳模式步態。最後，以模擬軟體以及實驗驗證所提出之輪腳轉換規劃可行性以及應用範圍。 | zh_TW |
| dc.description.abstract | This study discusses trajectory planning and stability analysis during wheel-leg transformation of a novel wheel-leg transformable robot. The platform is equipped with a five-bar linkages-based mechanism that is internally connected to a seven-bar linkage, providing 2 degrees of freedom. It can move in wheel mode using the wheeled mechanism and adopt common quadruped robot gaits in legged mode. However, its complex configuration poses challenges in kinematic calculations. To enable smooth and stable switching between the two modes, this study first offline plans the trajectory for single-leg wheel-to-leg transformation. The objective is to achieve smooth and efficient switching, and a large number of trajectories are generated through forward kinematics. These trajectories are then filtered based on a cost function to select the most suitable ones that meet the requirements.
In the context of mode switching in robots, the operating ranges of the wheeled mode and legged mode are not the same. Aligning the phases of each wheel-leg mechanism is necessary for mode switching. This study proposes a wheel-leg transformation planning algorithm that assigns behaviors and trajectories to each leg during the transformation process. The algorithm ensures the alignment of the wheel-leg mechanisms' phases while the robot continues to move forward, enabling fast and smooth transformations. The algorithm avoids unnecessary dynamics such as steering and slipping. Moreover, the parameters within the algorithm can be adjusted according to the robot's specific situation, increasing its application flexibility. This study also employs a stability analysis using force-angle stability measurement to assess the robot's stability during the wheel-to-leg transformation. Based on the analysis results, adjustments are made to the footholds and body dynamics, ensuring the robot completes the transformation smoothly and seamlessly enters the central pattern generator to connect with legged mode gaits. Finally, the proposed wheel-leg transformation planning is validated through simulations and experiments, demonstrating its feasibility and applicability. | en |
| dc.description.provenance | Submitted by admin ntu (admin@lib.ntu.edu.tw) on 2023-10-03T16:47:58Z No. of bitstreams: 0 | en |
| dc.description.provenance | Made available in DSpace on 2023-10-03T16:47:58Z (GMT). No. of bitstreams: 0 | en |
| dc.description.tableofcontents | 審定書 i
誌謝 ii 中文摘要 iii ABSTRACT iv 目錄 vi 圖目錄 x 表目錄 xv 第一章 緒論 1 1.1 前言 1 1.2 研究動機 2 1.3 文獻回顧 3 1.3.1 四足機器人回顧 3 1.3.2 複合式輪腳機器人回顧 7 1.3.3 機器人穩定性評估方法回顧 11 1.4 貢獻 13 1.5 論文架構 14 第二章 實驗平台 16 2.1 前言 16 2.2 輪腳機構設計 16 2.2.1 輪腳機構設計回顧 16 2.2.2 金屬桿件改良 18 2.2.3 輪框改良 22 2.3 機身設計 25 2.3.1 機身設計回顧 25 2.3.2 輪足驅動模組 27 2.3.3 機身結構設計 29 2.3.4 轉向機構 33 2.4 機電系統 38 2.5 機器人整體架構 39 第三章 輪腳轉換規劃 41 3.1 前言 41 3.2 運動學回顧 41 3.2.1 座標定義 41 3.2.2 運動學分析 44 3.3 單足軌跡規劃 47 3.3.1 單足轉換策略發想 47 3.3.2 軌跡生成 50 3.3.3 成本函數 (cost function) 54 3.4 輪腳轉換演算法 55 3.4.1 機器人輪腳轉換策略發想 55 3.4.2 輪腳轉換演算法介紹 59 3.4.3 混合模式足步規劃 63 3.4.4 進入中樞模式發生器 65 3.4.5 腳輪轉換 68 第四章 穩定性分析 70 4.1 前言 70 4.2 力角穩定性分析 70 4.2.1 力角穩定性分析介紹 70 4.2.2 力角穩定性計算 71 4.3 穩定性修正 77 4.3.1 地形修正 78 4.3.2 加速度修正 81 4.4 輪腳慣性影響 82 第五章 實驗驗證與探討 85 5.1 前言 85 5.2 軌跡效率驗證 86 5.3 輪腳轉換可行性驗證實驗 88 5.3.1 不同起始姿態之輪腳轉換驗證 88 5.3.2 不同速度與不同高度之輪腳轉換驗證 93 5.4 輪腳轉換於坡度上之驗證 96 5.5 輪腳轉換整合實驗 100 第六章 結論與未來展望 105 6.1 結論 105 6.2 未來展望 106 REFERENCES 107 | - |
| dc.language.iso | zh_TW | - |
| dc.subject | 仿生機器人 | zh_TW |
| dc.subject | 軌跡規劃 | zh_TW |
| dc.subject | 輪腳複合模組 | zh_TW |
| dc.subject | 踏點規劃 | zh_TW |
| dc.subject | 穩定性分析 | zh_TW |
| dc.subject | leg-wheel module | en |
| dc.subject | trajectory planning | en |
| dc.subject | foothold planning | en |
| dc.subject | Bio-inspired robot | en |
| dc.subject | stability analysis | en |
| dc.title | 輪腳複合機器人之穩定輪腳轉換策略 | zh_TW |
| dc.title | A Stable Wheel-to-Leg Transformation Strategy in a Leg-Wheel Transformable Robot | en |
| dc.type | Thesis | - |
| dc.date.schoolyear | 111-2 | - |
| dc.description.degree | 碩士 | - |
| dc.contributor.oralexamcommittee | 連豊力;顏炳郎 | zh_TW |
| dc.contributor.oralexamcommittee | Feng-Li Lian;Ping-Lang Yen | en |
| dc.subject.keyword | 仿生機器人,輪腳複合模組,軌跡規劃,踏點規劃,穩定性分析, | zh_TW |
| dc.subject.keyword | Bio-inspired robot,leg-wheel module,trajectory planning,foothold planning,stability analysis, | en |
| dc.relation.page | 112 | - |
| dc.identifier.doi | 10.6342/NTU202303683 | - |
| dc.rights.note | 未授權 | - |
| dc.date.accepted | 2023-08-10 | - |
| dc.contributor.author-college | 工學院 | - |
| dc.contributor.author-dept | 機械工程學系 | - |
| 顯示於系所單位： | 機械工程學系 | |
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