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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-Shing Yang | en |
dc.contributor.author | 楊力行 | zh_TW |
dc.date.accessioned | 2021-06-16T16:21:32Z | - |
dc.date.available | 2018-03-06 | |
dc.date.copyright | 2013-03-06 | |
dc.date.issued | 2013 | |
dc.date.submitted | 2013-01-29 | |
dc.identifier.citation | 1. Bruzzone, L., and G. Quaglia. 2012. Review article: locomotion systems for ground mobile robots in unstructured environments. Mechanical Sciences. 3: 49-62.
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Hirose, T. Okamoto, and J. Mori. 2004. Development of TITAN XI: a quadruped walking robot to work on slopes. IEEE International Conference on Intelligent Robots and Systems, Sendai, Japan. 9. Hong, D.W. and D. Laney. 2006. Preliminary Design and Kinematic Analysis of a Mobility Platform with Two Actuated Spoke Wheels. US-Korea Conference on Science, Technology and Entrepreneurship, Mechanical Engineering & Robotics Symposium, Teaneck, New Jersey, USA. 10. Jet Propulsion Laboratory. On-line available at http://marsrovers.jpl.nasa.gov/home/index.html. Accessed 23 Jan. 2013. 11. Kod*lab. On-line available at http://kodlab.seas.upenn.edu/Main/HomePage. Accessed 23 Jan. 2013. 12. Lewinger, W. A., C. M. Harley, R. E. Ritzmann, M. S. Branickcy, and R. D. Quinn. 2005. Insect-like Antennal Sensing for Climbing and Tunneling Behavior in a Biologically-inspired Mobile Robot. IEEE International Conference on Robotics and Automation, Barcelona, Spain. 13. Lindemann, R., L. Reid, and C. Voorhees. 1999. Mobility Sub-system for the Exploration Technology Rover. Proceeding of the 33rd Aerospace Mechanisms Symposium, pp. 115-130, Pasadena CA, USA. 14. Michaud, F., D. Letourneau, M. Arsenault, Y. Bergeron, R. Cardrin, F. Gagono, M. A. Legault, M. Millette, J. F. Pare, M. C. Tremblay, P. Lepage, Y. Morin, J. Bisson, and S. Caron. 2005. Multi-modal locomotion robotic platform using leg-track-wheel articulations. Autonomous Robots. 18(2): 137–156. 15. Moore, E.Z., D. Campbell, F. Grimminger, and M. Buehler. 2002. Reliable Stair Climbing in the Simple Hexapod ‘RHex’. IEEE International Conference on Robotics and Automation, Washington, DC, USA 16. Morrey, J. M., B. Lambrecht, A. D. Horchler, R. E. Ritzmann, and R. D. Quinn. 2003. Highly Mobile and Robust Small Quadruped Robots. IEEE International Conference on Intelligent Robots and Systems, Las Vegas, USA. 17. Nakajima, S., E. Nakano, and T. Takahashi. 2004. Motion Control Technique for Practical Use of a Leg-Wheel Robot on Unknown Outdoor Rough Terrains. IEEE International Conference on Intelligent Robots and Systems, Sendai, Japan. 18. Quinn, R. D., J. T. Offi, D. A. Kingsley, and R. E. Ritzmann. 2002. Improved Mobility Through Abstracted Biological Principles. International Conference on Intelligent Robots and Systems, Lausanne, Switzerland. 19. Raibert, M., K. Blankespoor, G. Nelson, R. Playter, and the BigDog team. 2008. BigDog: the Rough-Terrain Quadruped Robot. The 17th International Federation of Automatic Control, Seoul, Korea. 20. ROBOTIS e-Manual v1.11.00 On-line available at http://support.robotis.com. Accessed 23 Jan. 2012. 21. Saranli, U., M. Buehler, and D. E. Koditschek. 2001. RHex: A Simple and Highly Mobile Hexapod Robot. International Journal of Robotics Research. 20(7): 616-631. 22. 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. IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, USA. 23. Smith, J. A., I. Sharf, and M. Trentini. 2006. PAW: a Hybrid Wheeled-Leg Robot. IEEE International Conference on Robotics and Automation, Orlando, Florida. 24. Tadakuma, K., R. Tadakuma, A. Maruyama, E. Rohmer, K. Nagatani, K. Yoshida, A. Ming, S. Makoto, M. Higashimori, and M. Kaneko. 2009. Armadillo-Inspired Wheel-Leg Retractable Module. IEEE International Conference on Robotics and Biomimetics, Guilin, China. 25. Tavolieri, C., E. Ottaviano, M. Ceccarelli, and A. Nardelli. 2007. A Design of a New Leg-Wheel Walking Robot. 15th Mediterranean Conference on Control and Automation, Athens, Greece. 26. Wilcox, B., T. Litwin, J. Biesiadecki, J. Matthews, M. Heverly, J. Morrison, J. Townsend, N. Ahmad, A. Sirota, and B. Cooper. 2007. ATHLETE: A Cargo Handing and Manipulation Robot for the Moon. Journal of Field Robotics. 24(5): 421-434. 27. Yuan, J. and S. Hirose. 2004. Research on Leg-Wheel Hybrid Stair-Climbing robot, Zero Carrier. International Conference on Robotics and Biomimetic, Shenyang, China. 28. Zheng, L., P. Zhang, Y. Hu, G. Yu, Z. Song, and J. Zhang. 2011. A Novel High Agaptability Out-door Mobile Robot with Diameter-variable Wheels. IEEE International Conference on Information and Automation, Shenzhen, China. | |
dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/63076 | - |
dc.description.abstract | 本研究發展出一種爪輪混合型載具,可有效地克服平地、崎嶇、與階梯之環境,且結構簡單。本載具擁有爪式與輪式兩種運動模式,透過前後車身的展開與摺疊來達到運動模式之間的轉換。輪式運動模式的形成,是將前後載體摺疊,並控制前後爪部的角度差,讓兩個爪部形成一個完整的輪式機構。輪式運動模式主要應用在平面以及斜坡的環境,希望達到平穩且快速的移動;爪式運動模式的形成是利用前後載體的展開來達成,本運動模式主要用來克服崎嶇或是階梯的環境。本載具可藉由調整前後車身的夾角,來適應不同深度與高度之階梯障礙,或輔助掙脫障礙物。本載具的創新設計概念與可行性已經過原型機的證實,與現有之混合型載具相比較,具有系統結構與控制策略簡單,重量較輕,成本低與耗電量少等優點。實驗結果顯示,輪式與爪式運動模式之間的切換過程只需要10 sec;在輪式運動模式時,可達到52.7 cm/sec的直線移動速度以及127.2 deg/sec的原地轉向角速度;爪式運動模式的攀階實驗,可分別跨越生機系館最大斜度的階梯(高度19 cm;深度24 cm)、高度最高的階梯(高度19.5 cm;深度29.5 cm)、以及階梯深度大於一個車身時,階梯高度為23 cm的階梯,每次測試為攀爬一階,經過十次的測試後,平均所花時間分別為9.14 sec、9.00 sec、以及10.87 sec。最後,本論文找出階梯參數、載具結構參數、控制參數、以及馬達需求扭力之間的關係,有助於下一代載具的設計。 | zh_TW |
dc.description.abstract | This research develops a claw-wheel transformable robot which could move on flat ground, stairways, or uneven terrain environment efficiently with a fairly simple structure. The robot can switch between claw mode and wheel mode by folding and unfolding the front body and rear body of the robot. The transformation could be made by controlling the motors on a pitch joint through the front claw and rear one in 90° angle shift after folding. The claw mode is mainly used to cross various uneven terrain or climb stairways. Yet, the wheel mode is for moving on flat ground. This robot can be adaptive to various riser height and tread depth of stairs by appropriately controlling the transformation mechanism. Testing and verification have been done both in numerical simulation and the field testing on the developed prototype. Compared with the existing hybrid robots, it has been proved to be well adaptive to various environments, structurally simple, easy to control and light in weight. While the robot equipped with 2.65Ah Li-Po battery, the transformation process only takes 10 sec. In wheel mode, it can reach 52.7 cm/sec straight velocity and 127.2 deg/sec angular velocity. In claw mode, it can overcome the steepest and the highest stairways in our department buildings. It can also climb up 23cm rise height of stair while stair tread is over one length of robot. The robot climbs up/down one stair in each run. After 10 run tests, this robot takes 9.14 sec/stair in average for the steepest stairway (stair rise = 19cm; stair tread = 24cm), 9.00 sec/stair in average for the highest stairway (stair rise = 19.5cm; stair tread = 29.5cm) , and 10.87 sec in average for 23 cm rise height of stair with tread longer than the length of the robot respectively. This research also develops the relations among stair, structure, control, and required torque parameters. These relations would help the design of the new generation robot. | en |
dc.description.provenance | Made available in DSpace on 2021-06-16T16:21:32Z (GMT). No. of bitstreams: 1 ntu-102-R99631011-1.pdf: 4879502 bytes, checksum: 4b473e33f7612218f4b6e2e69fac6220 (MD5) Previous issue date: 2013 | en |
dc.description.tableofcontents | 論文口試委員審定書 i
致謝 ii 摘要 iii Abstract v 目錄 vii 圖目錄 xi 表目錄 xiii 符號表 xiv 第一章 前言 1 第二章 文獻回顧 2 2.1 足、輪混合型載具 3 2.1.1 輪型機構安裝於足型機構的尾端 3 2.1.2 車身與足部之間使用輪式關節連接 7 2.1.3 輪型機構與足型機構為分別獨立安裝 11 2.1.4 輪型與足型可經由機構的變形來彼此切換 11 第三章 材料與方法 22 3.1 設計概念 22 3.1.1 爪式運動模式 22 3.1.2 輪式運動模式 23 3.1.3 轉換機構 23 3.1.4 爪式機構之設計 24 3.2 載具與階梯之幾何分析 25 3.3 馬達扭力需求分析 26 3.3.1 輪緣接地時的重量分配 26 3.3.2 爪部勾狀尖端接地時的重量分配 28 3.4 控制策略 30 3.4.1 轉換過程 30 3.4.2 爪式運動模式 30 3.4.2.1 攀爬階梯的理想位置 30 3.4.2.2 摺疊角計算 32 3.4.2.3 複雜環境的移動策略 33 3.4.3 輪式運動模式 33 3.5 原型機之設計與製作 34 3.4.1 原型機-I之開發 35 3.4.2 原型機-II之開發 36 3.5 實驗平台硬體設備 38 3.5.1 遠端控制模組 40 3.5.2 遠端控制介面 41 3.5.3 控制器 42 3.5.4 用於行動與轉換結構的馬達 42 3.5.5 影像模組 43 3.5.6 載具之電源 44 第四章 結果與討論 45 4.1 轉換過程 45 4.2 爪式運動模式實驗 47 4.2.1 系館階梯尺寸 47 4.2.2 系館最大斜度階梯之攀爬測試 48 4.2.3 系館最大高度階梯攀爬測試 50 4.2.4 最大階梯高度攀爬測試 52 4.2.5 複雜環境行走測試 53 4.3 爪式運動模式問題討論 54 4.3.1 翻覆問題 54 4.3.2 爪部卡住障礙物 55 4.3.3 載具不在攀爬階梯的理想位置 56 4.4 輪式運動模式實驗 57 4.4.1 直線行進測試 57 4.4.2 原地轉向測試 57 4.5 輪式運動模式問題討論 58 4.5.1 輪式外形的維持 58 第五章 結論 59 第六章 建議 61 參考文獻 62 | |
dc.language.iso | zh-TW | |
dc.title | 輪式及爪式可變結構載具之研發 | zh_TW |
dc.title | Development of a Wheel-Claw Transformable Vehicle | en |
dc.type | Thesis | |
dc.date.schoolyear | 101-1 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 顏炳郎(Ping-Lang Yen),黃緒哲(Shiuh-Jer Huang) | |
dc.subject.keyword | 階梯攀爬,可轉換式機器人,爪式機構,輪式機構,混合式,移動載具, | zh_TW |
dc.subject.keyword | Stair climbing,Transformable robot,Claw,Wheel,Hybrid,Mobile robot, | en |
dc.relation.page | 65 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2013-01-30 | |
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 |
顯示於系所單位: | 生物機電工程學系 |
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