本研究之目的在於探討從空中自由掉落之雙體機構動力學特性，進行主動式著陸機制設計及姿態控制。仿效貓的著陸特點，著重於主動式接頭之設計，提供類似於動物脊骨構造之運動型態，同時搭配感測器進行姿態偵測與回饋控制，以達到在半空中調整姿勢且安全軟著陸之目標。

首先建立雙體著陸姿態控制系統之三維實體模型，經由適當的假設，將該系統簡化成為物理模型，再針對系統運動自由度進行分析並制定描述運動姿態所需之歐拉座標系（Euler Coordinate），結合座標系轉換原理及能量法（Lagrange’s Equation）推導其動力學方程式。利用專業機構分析及模擬軟體ADAMS（Automatic Dynamic Analysis of Mechanical System）建立該系統之幾何模型與約束型態，並設定初始條件及扭力輸入以進行機構模擬，藉此了解雙體著陸姿態控制系統之動力學特性。此外，透過MATLAB數值分析運算，將前述推導之運動方程式以ODE45進行非線性方程式求解，由ADAMS及MATLAB模擬結果相互印證動力學方程式之正確性，進而從事控制器之設計。

本研究之關鍵在於設計一可以沿所需之運動自由度方向提供扭力輸出的主動式接頭連接兩桿件，利用感測器偵測桿件相對於參考座標系統之姿態變化，以進行姿態回授控制。最終目標在於將主動式著陸姿態控制機制結合高阻尼之吸振性材料、結構設計等被動式防衝擊機制，應用於提升電子產品之防摔及抗震功能。

This study is dedicated to explore dynamic characteristic of double-body system at free falling. To imitate cat’s landing process, design a landing mechanism and posture control theorem. In order to provide the motion of animal’s backbone , we emphasize designing active joint to realize landing posture control mechanism. In this study, a complete dynamic model of double-body system , analyzing degree of motion and Euler-coordinate , combining homogenous transformation matrix and energy method to establish function of dynamic. Using ADAMS to build system’s model then simulation dynamic performance. In experiment scheme , we try to design an active joint to provide two degree of torque and controller design. Finally this mechanism would application in anti-drop of electric product.

目錄
中文摘要
英文摘要
誌謝
目錄
圖目錄
表目錄
第一章 緒論
1-1 研究動機
1-2 文獻回顧
1-2-1 機械貓之設計與分析
1-2-2 機器貓自由掉落之模擬
1-2-3 自由掉落機制之控制理論
1-3 論文內容
第二章 運動方程式推導
2-1 系統假設及模型說明
2-2 系統自由度分析
2-3 慣性座標系與非慣性座標系
2-3-1 座標系轉換矩陣定義及符號表示
2-3-2 符號簡化說明
2-4 歐拉座標系統定義
2-4-1 參考座標系至系統質心座標系轉換矩陣推導
2-4-2 系統質心座標系至接頭座標系轉換矩陣推導
2-5 運動方程式推導
第三章 ADAMS機構模擬
3-1 ADAMS簡介
3-2 ADAMS模型建立
3-3 ADAMS機構模擬
3-3-1 初始角度均為零且Tx=0.002cos10t Nm
3-3-2 初始角度均為零且Ty=0.002cos10t Nm
3-3-3 初始角度均為零且Tx=Ty=0.002cos10t Nm
3-3-4 初始角度thetaL2=30且Tx=0.002cos10t Nm
3-3-5 初始角度thetaL1=30且Ty=0.002cos10t Nm
3-3-6 初始角度thetaR1=30且Tx=0.002cos10t Nm
3-4 ADAMS及MATLAB模擬結果討論
第四章 非線性系統控制器設計及模擬
4-1 非線性系統特性及分析理論
4-2 回授線性化
4-2-1 輸入–狀態線性化
4-2-2 輸入–輸出線性化
4-3 位置追蹤控制
4-3-1 位置追蹤模擬
4-3-1-1 目標狀態變數thetaR1及thetaR2之位置追蹤
4-3-1-2 目標狀態變數thetaL1及thetaL2之位置追蹤
4-3-2 結論
4-4 軌跡追蹤控制
4-4-1 軌跡追蹤模擬
4-4-1-1 目標狀態變數thetaR1、thetaR2之軌跡追蹤
4-4-1-2 目標狀態變數thetaL1、thetaL1之軌跡追蹤
4-4-2 結論
4-5 滑動控制器設計
4-5-1 滑動控制模擬
4-5-2 結論
4-6 模擬結果及討論
第五章 實驗規劃及主動式接頭設計
5-1 實驗規劃
5-2 實驗流程
5-3 實驗設備
5-4 主動式接頭設計
5-4-1 行星齒輪型主動式接頭
5-4-2 虎克型主動式接頭
第六章 結論暨未來研究方向
6-1 結論
6-2 未來研究方向
參考文獻

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