輪足混合式四連桿機器人之設計與分析

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。

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.