微型仿生機器人動態特性分析與運動控制

Dynamic Analysis & Motion Control of A Bio-mimic Robot

許凱棋(KAI-CHI SHIU)

指導教授 ： 顏家鈺

國立臺灣大學/工學院/機械工程學研究所/碩士(2005年)

https://doi.org/10.6342/NTU.2005.02891

摘要

蟑螂是一種人人討厭的生物，但卻因為他體積小、移動速度快，就可以從恐龍滅絕的浩劫中生存到現在。體積小所以利於躲藏，可以鑽進人類無法到達的管線或是狹小空間裡。若是我們能製作出大量這樣的微型機器人，就能控制這些機器人到一些危險或狹窄地方進行大規模的資訊探測或是救災搜索活動。本論文的仿生機器人以蟑螂為模仿目標，因為肢腳運動要比輪子來的靈活許多，所以必須進行蟑螂運動模式的分析。為了達到體積縮小、重量減輕以及節省能量的目的，使用形狀記憶合金來當作致動器，並利用ARM920T-S3C2410來當作主要控制晶片，來控制機器人肢腳的運動順序，來產生不同的步態使得機器人能夠任意移動。

關鍵字

形狀記憶合金 ； 六足機器人 ； 達靈頓驅動器

並列摘要

Bio-mimetic designed robot has caught people’s imagination for centuries. People have always wondered how the cockroach survived the mass destruction that killed all the dinosaurs. Cockroaches are small and they move fast. There is no difficulty for them to can climb into tunnels or narrow spaces. It is thus possible to use a bio-mimetic robot to explore dangerous areas and even search for survivors. This thesis discusses the design and building of a bio-mimetic robot by imitating the cockroach. Noting that legs are more effective than wheels to move around, the robot is based on six-legged design. This thesis conducted cockroach gait analysis and used shape memory alloy (SMA) for the actuation mechanism. The SMA design also helps to reduce weight overall size. The controller is based on an ARM920T-S3C2410 to implement the various gaits. The experiment results are also included to demonstrate the effectiveness of the control.

並列關鍵字

Shape Memory Alloy (SMA) ； Hexapod robot ； Darlington driver

參考文獻

[1]. Fred Delcomyn, Mark E. Nelson, “Architecture for a biomimetic hexapod robot”, Robotics and Autonomous Systems, 2002, pp.5-15

[3]. 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.

[7]. 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”, ICRA 2003: 2940-2945

[8]. 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.

[14]. A. David Johnson, “Shape Memory Metals”, IEEE Potentials, Vol.7,No.3, Oct 1988, pp.17-19.