履帶型串結式機器人之階梯攀爬能力分析

Analysis of Stairs-Climbing Ability for a Tracked Chain-Type Robot

鄭善韋(Shan-Wei Zheng 鄭善韋)

指導教授 ： 葉賜旭

國立臺北科技大學/機電學院/機電整合研究所/碩士(2011年)

https://doi.org/10.6841/NTUT.2011.00716

摘要

本研究就現有的救援機器人的設計與研究進行比較，目前的救援機器人多以單機的操作方式，限制了深入災區內部搜救的範圍，對於複雜環境下的移動更為受限；救援機器人並無分析姿態改變對於機器人所產生的變化分析；沒有一個標準的地形克服定義，僅有照片及影片展示，並無實驗數據證實。因此本研究設計出結構簡單化、體積輕巧化並可克服不同複雜地形的履帶型串結式機器人(tracked chain-type robot)，藉由兩自由度的串結關節，將多單節履帶型機器人結合成串結式模式，使得串結式機器藉由單節間的推、拉，以及抬舉關節、旋轉關節等，較單節機器人多的自由度及輸出功率，克服更複雜的地形。分別對於單節、兩節及三節進行機器人爬升台階姿態設定及分析，由分析結果得知單節機器人可爬行最大台階高度為24.6mm、兩節機器人可爬行最大台階高度為94mm及三節機器人可爬行最大台階高度217mm，接著進行串結式機器人於階梯地形攀爬能力分析，依照所設定的姿態調整機器人關節角度，達到克服階梯地形之目的。最後經由實驗驗證本研究台階及階梯地形機器人運動姿態設定，並且透過實驗結果證明機器人串結數可使機器人爬升能力提升。

關鍵字

串結式機器人 ； 階梯攀爬 ； 履帶型機器人 ； 機器人姿態

並列摘要

By comparing the rescue robot nowadays, so far most of the rescue robots are manipulated by single unit, which limits the robot’s ability deep into disaster area. Furthermore, lack of analytic results from changing position of robots and also short of standardized definition of terrain overcome, only by showing photos and videos for display is not as supportive as experimental data.Consequently, the aim of this study is to design a simple-and-compact tracked chain-type robot to overcome complex terrains in living. The developed tracked chain-type robot comprises of stood tracked robots ; through the use of chain-typed structure and 2-DOF (degree of freedom) joint design, the tracked chain-typed robot can overcome rough terrain easily by pushing, pulling elevating and twisty of tracked robot.In the stair climbing ability experiment, the analytic results from one, two and three units robots shows that maximal stairs height for respective robot are 24.6 mm, 94mm, and 217mm. Thus, through adjustments of joint angle of positioned robots, the subsequent experimental results display that climbing ability actually benefits from increasing the chained units and the results reassure the robot position settings and correct stair height during climbing.In the end, the experimental data proved that chain-type robot can climb stair in consistent with construction regulation that stair is 18 cm in height and 26cm in depth successfully.

並列關鍵字

Chain-type robot ； Stairs-climbing ； Tracked robot ； Robot posture

參考文獻

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