請用此 Handle URI 來引用此文件：
http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/32456完整後設資料紀錄
| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 顏家鈺 | |
| dc.contributor.author | Chen-Chia Yang | en |
| dc.contributor.author | 楊鎮嘉 | zh_TW |
| dc.date.accessioned | 2021-06-13T03:50:27Z | - |
| dc.date.available | 2006-07-31 | |
| dc.date.copyright | 2006-07-31 | |
| dc.date.issued | 2006 | |
| dc.date.submitted | 2006-07-26 | |
| dc.identifier.citation | 1.Ferrell,C.“A comparison of three insect-inspired locomotion controllers.”Robotics and Autonomous Systems, 1995,pp.135–159.
2.Fred Delcomyn, Mark E. Nelson, “Architecture for a biomimetic hexapod robot”, Robotics and Autonomous Systems, 2002, pp.5-15 3.H.-J Weidemann, F. Pfeiffer, J. Eltze, “The Six-Legged TUM Walking Robot”, Proc. of the 1994 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, München, Germany, Sept. 12 - 16, 1994, pp.1026 - 1033 4.Mills,J.,“Lukasiewicz' Insect: The Role of Continuous-Valued Logic in a Mobile Robot's Sensors, Control, and Locomotion”, Proc. 23rd Int. Symp. On Multiple-Valued Logic, IEEE Computer Society, 1993. 5.Robert T. Schroer, Matthew J. Boggess, Richard J. Bachmann, Roger D. Quinn, Roy E. Ritzmann, “Comparing Cockroach and Whegs Robot Body Motions”, Case Western Reserve University, Cleveland, Ohio, USA. 6.W. Ilg, J. Albiez, R. Dillmann, “Adaptive Posture Control of a Four-legged Walking Machine using some Principles of Mammalian Locomotion”, In Proceedings International Symposium on Adaptive Motion of Animals and Machines, Montreal, Kanada, Aug.2000,pp.4.-8. 7.Clark, J. E., Cham, J. G., Bailey, S. A., Froehlich, E. M., Nahata, P. K., Full, R. J. and Cutkosky, M. R.,“Biomimetic Design and Fabrication of a Hexapedal Running Robot”, International Conference on Robotics and Automation, ICRA2001, Seoul, Korea, 2001,pp.21-26 8.Byungkyu Kim, Jaewook Ryu, Younkoo Jeong, Younghun Tak, Byungmok Kim, Jong-Oh Park, “A ciliary based 8-legged walking micro robot using cast IPMC actuators”, ICRA2003,pp.2940-2945. 9.R. J. Bachmann, D. A., kingsley, R. D. Quinn, R. E. Ritzmann, “A cockroach robot with artificial muscles”, 5th international conference co climbing and walking robots, 2002, pp.659-666. 10.Josep M. Porta and Enric Celaya, “Gait Analysis for Six-Legged Robots”, UPC-CSIC, Barcelona, SPAIN. 11.N Ma and G Song, “Control of shape memory alloy actuator using pulse width modulation”, Smart Materials and Structures Laboratory, Department of Mechanical Engineering University of Houston, USA, September 2003. 12.Agnes Bonvilain, Nicolas Chaillet, “Microfabricated Thermally Actuated 1P3Microrobot”, IEEE, France, 2003. 13.謝雲忠, “鎳鈦形狀記憶合金致動器之特性分析”, 國立台灣大學機械工程學研究所碩士論文,1991 14.http://www.microsoft.com/Policy/Areas/Y2K/w-43.cfm 15.James Y. Wilsom,Aspi Havewala著,陳峰棋,英瑞得資訊譯,Win CE IA平台超強建構: Win CE裝置驅動程式完全開發,台灣培生教育出版股份有限公司,2002 16.http://www.microsoft.com/windows/embedded/ce.net (Win CE ) 17.http://www.cs.ualberta.ca/~database/MEMS/sma_mems/sma.html 18.http://www.toki.co.jp/biometal, TOKI CORPORATION. （形狀記憶合金的公司） 19.許凱棋,”微型仿生機器人動態特性分析與運動控制”, 國立台灣大學機械工程學研究所碩士論文,2005 20.Chandrashekhar Ramaswamy, Yogendra K. Joshi, Wataru. Nakayama, and William B. Johnson, 'Combined Effects of Sub-Cooling and Operating Pressure on the Performance of a Two-Chamber Thermosyphon,' IEEE Transactions on Components and Packaging Technologies, Vol. 23, No. 1, Mar. 2000. 21.http://www.playrobot.com/menu05.htm壓力感測器 22.http://www.playrobot.com/menu05.htm羅盤感測器 23.http://www.memsic.com/memsic/data/products/MXR2999E/MXR2999E.REVE.pdf加速規 24.http://www.onsemi.com/pub/Collateral/LM339-D.PDF比較器 25.http://www.holtek.com.tw/chinese/default.htm類比數位轉換器 26.http://www.semiconductors.philips.com/pip/PCA9516D.html IIC HUB 27.http://www.marconiect.org/page.php?m=3&ps=2&p=11達靈頓驅動晶片 28.http://www.dws.com.tw/modules/newbb/viewtopic.php?viewmode=flat&order=ASC&topic_id=85&forum=2&move=prev （PWM解釋） 29.N Ma and G Song, “Control of shape memory alloy actuator using pulse width modulation”, Smart Materials and Structures Laboratory, Department of Mechanical Engineering University of Houston, USA, September 2003. 30.P.J Gullan & P.S. Cranston,The insects an outline of entomology,Blackwell Science Ltd,1994,p35 31.Said M. Megahed,Principle of robot modeling and simulation,John wiley&Sons Ltd,1993,pp.31-137 32.John J. Craig,Introduction to robotics mechanics & control,Addison-Wesley Publishing Company,Inc.,1986,pp.15-54 33.林鼎洋,“鈦鎳形狀記憶合金變態變態時熱膨脹係數及電阻變化之研究”,國立台灣大學材料科學與工程學研究所,2002 34.S.Majima,K.Kodama and T.Hasegawa,”Modeling of shape memoryalloy actuator and tracking control system with the model”,IEEE Trans.Control Syst.Technol.9,p54-59(2001) 35.A.Kumagai,P.Hozian and M.Kirkland,“Neuro-fuzzy based feedback controller for shape memory alloy actuator.”in:Proc.of SPIE,2000. 36.T.Hasegawa and S.Majima,“A control system to compensate the hysteresis by Preisach Model on SMA actuator.”in:Proc.9th Int.Symp.on Micromechatronics and human Science(1988) 37.HYO JIK LEE and JUNG U LEE,“Modeling and time delay control of shape memory alloy actuators,”Advanced Robotics,2004,Vol.18,No.9,pp.881-903 38.D.Grant,“Accurate and rapid control of shape memory alloy actuators,”PHD Thesis,McGill University,1999. 39.Gene F. Franklin,J. David Powell & Abbas Emami-Naeini,Feedback control of dynamic system,Prentice-Hall, Inc,2002,pp.200-250 | |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/32456 | - |
| dc.description.abstract | 本論文是以形狀記憶合金為驅動器，以模仿蟑螂為目標來建構一六足仿生機器人。因為肢腳運動要比輪子更能克服地形的障礙，故仿生機器人在災難救助或野外調查上佔有優勢。而機器人的建構分為兩方面：一是機器人的實體架構，二是機器人的控制系統。在機器人的實體方面，是以重量輕、半透明且易於加工的壓克力為主要材料，再配合一些零件的應用，製作出各關節的轉動;另外在機器人控制系統上，以ARM9為主要控制晶片，在其上架設Windows CE嵌入式作業系統，連接各感測器與晶片，即時性地收集各感應器的資訊。再經過運算，對形狀記憶合金下達驅動的命令，使機器人可獨立自主的行走，形成一完整的嵌入式控制系統。在論文中也對形狀記憶合金做了長度控制的實驗與討論，期望能夠透過狀記憶合金長度控制，增進機器人的行走效率。外加與其他伙伴的合作，在機器人上加裝無線通訊模組及感測器，使仿生機械人在未來能夠具備更強大的能力。 | zh_TW |
| dc.description.abstract | This thesis addresses the design issues involved in the design of a six-legged bio-mimicking robot. The robot is designed to be autonomous with wireless communication capability for down linking simple instructions. The core of the embedded system is based upon an ARM9 processor. The robot has six shape memory alloy (SMA) actuated legs. The different gaits for the robot movements are stored in the system memory so that the robot can fulfill different motion commends. This thesis discusses the structure design and the motion planning of the system. The robot kinematics design enables the robot of move forward and turn upon command requirements. The system is also equipped with A/D and digital interface for various sensors.The actual implementations are presented. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-13T03:50:27Z (GMT). No. of bitstreams: 1 ntu-95-R93522810-1.pdf: 3508567 bytes, checksum: 29f63896c83b9d6fa77479b306983370 (MD5) Previous issue date: 2006 | en |
| dc.description.tableofcontents | 第一章 緒論 1
1.1 前言 1 1.2 研究動機、目的與背景 1 1.3 文獻回顧 3 1.4 論文架構 6 第二章 嵌入式控制系統 9 2.1 嵌入式系統定義與目標 9 2.2 Windows CE簡介 10 2.2.1 Windows CE 特點 10 2.2.2 Windows CE重要功能 11 2.3 Windows CE平台開發架構 14 2.4 實驗硬體介紹 15 第三章 形狀記憶合金控制器之研發 17 3.1實驗硬體介紹 17 3.1.1形狀記憶合金簡介 17 3.1.2 NiTi基形狀記憶合金的特性 17 3.1.3形狀記憶合金致動器 20 3.1.4 ARM9微控制器 22 3.1.5 類比數位轉換晶片（A/D Type MCU） 22 3.1.6達零頓驅動晶片（Darlington Driver） 24 3.2 PID控制法則 26 3.2.1 PID控制理論 26 3.2.2數位PID控制 27 3.3 控制器實現 29 3.4 實驗結果與討論 32 第四章 六足機器人之步態控制 47 4.1 實驗硬體介紹 47 4.1.1 六足仿生機器人之機構製作 47 4.1.2 感測器之介紹 57 4.1.3 晶片介紹 63 4.2 六足仿生機器人之步態分析 67 4.3 六足仿生機器人步態控制之實現 69 4.3.1 ROBOT II步態控制之實現 69 4.3.2 ROBOT III步態控制之實現 72 4.4 結果與討論 72 4.4.1 ROBOT I與ROBOT II的比較 72 4.4.2 ROBOT II與ROBOT III的比較 75 第五章 六足仿生機器人之運動方程式推導 79 5.1 空間座標，指向的表示及轉換方法 79 5.2 六足機器人運動方程式推導 81 第六章 結論與未來展望 86 6.1 結論 86 6.2 未來展望 87 附錄： 88 | |
| dc.language.iso | zh-TW | |
| dc.title | 六足仿生機器人嵌入式控制器之研發 | zh_TW |
| dc.title | Development of Embedded System Technology for A Six-legged Bio-mimicking Robot | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 94-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 陳永耀,連豊力 | |
| dc.subject.keyword | 嵌入式控制系統,感測器,形狀記憶合金長度控制, | zh_TW |
| dc.subject.keyword | embedded control system,Sensors,SMA length control, | en |
| dc.relation.page | 92 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2006-07-26 | |
| 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 | |
文件中的檔案：
| 檔案 | 大小 | 格式 | |
|---|---|---|---|
| ntu-95-1.pdf 目前未授權公開取用 | 3.43 MB | Adobe PDF |
系統中的文件，除了特別指名其著作權條款之外，均受到著作權保護，並且保留所有的權利。