輪式及爪式可變結構載具之研發

Development of a Wheel-Claw Transformable Vehicle

楊力行(Li-Shing Yang)

指導教授 ： 周瑞仁

國立臺灣大學/生物資源暨農學院/生物產業機電工程學研究所/碩士(2013年)

https://doi.org/10.6342/NTU.2013.10419

摘要

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。

關鍵字

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

並列摘要

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.

並列關鍵字

Stair climbing ； Transformable robot ； Claw ； Wheel ； Hybrid ； Mobile robot

參考文獻

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