Title

彈性體連結之機器蛇的研發與其最佳速度之規劃

Translated Titles

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

DOI

10.6342/NTU.2004.01850

Authors

林彥誠

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

PublicationName

臺灣大學生物產業機電工程學研究所學位論文

Volume or Term/Year and Month of Publication

2004年

Academic Degree Category

碩士

Advisor

周瑞仁

Content Language

繁體中文

Chinese Abstract

本研究發展一套以彈性體為連結之機器蛇,並在路徑、機構與動力限制下發展一套最佳化速度規劃模式。整條機器蛇包含五個模組,模組間以彈性體為連結,每個模組均由兩顆步進馬達所驅動,並由模組上之微控制器以差速方式控制其方向與速度。以彈性體連結可使機器蛇的行動蜿蜒柔軟,更為逼真似蛇。綜合考量徑向伸縮及側向彎曲時之彈性恢復力及力矩對機器蛇行進時所造成之影響,在路徑、機構與動力限制下本研究提出最佳速度規劃方法,可使機器蛇在無失步、無滑動的情形下,於最短時間內循規劃之路徑抵達目的地。

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。