Translated Titles

Development of a Snake Robot with Flexible Connectors and its Optimal Velocity Planning





Key Words

速度規劃 ; 機器人 ; 路徑 ; 步進馬達 ; 彈性體 ; 蛇 ; Path ; Snake ; Stepping motor ; Robot ; Velocity planning ; Flexible connector



Volume or Term/Year and Month of Publication


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Chinese Abstract


English Abstract

In this research, a snake-like robot with flexible connectors is developed, and an optimal velocity planning approach is investigated under the constraints of path, kinematics and dynamics of the robot. The snake-like robot includes five modules which are connected by flexible connectors; each module is driven by two stepping motors and is controlled in differential way for its direction and speed by micro-controllers. Flexible connection makes the motion of the robot smoother and more snake-like. However, the elastic restoring force and torque due to longitudinal extension (or compression) and lateral bending of springs may affect the behavior of the snake-like robot during moving. The snake-like robot will be out of control unless proper planning. The snake-like robot is capable of following the planned path and arriving at the destination in minimum time without sliding or losing steps, if the optimal velocity planned by the study is applied.

Topic Category 生物資源暨農學院 > 生物產業機電工程學研究所
生物農學 > 生物環境與多樣性
工程學 > 電機工程
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Times Cited
  1. 廖建偉(2010)。四節機器人之DSP控制系統設計。淡江大學機械與機電工程學系碩士班學位論文。2010。1-77。 
  2. 劉志原(2007)。四節機器人之控制器設計。淡江大學機械與機電工程學系碩士班學位論文。2007。1-66。 
  3. 廖培丞(2007)。DSP主控之四節機器人運動控制。淡江大學機械與機電工程學系碩士班學位論文。2007。1-96。 
  4. 張昱升(2005)。四節機器人之研究。淡江大學機械與機電工程學系碩士班學位論文。2005。1-87。 
  5. 魏正宗(2006)。透過GSM模組遙控機器蛇之研發與其步態規劃。臺灣大學生物產業機電工程學研究所學位論文。2006。1-107。 
  6. 李曉芳(2004)。彈性體連結之機器蛇的研發與最佳避障路徑規劃。臺灣大學生物產業機電工程學研究所學位論文。2004。1-133。