撲滿機器鴨之研發｜國立臺灣科技大學博碩士論文系統

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研究生：	Joel Runji Joel - Runji
論文名稱：	撲滿機器鴨之研發 Development of Piggy-bank Robot Duck
指導教授：	林其禹 Chyi-Yeu Lin
口試委員:	黃育熙 Yu-Hsi Huang 史建中 SHIH CHIEN-JONG
學位類別：	碩士 Master
系所名稱：	工程學院 - 機械工程系 Department of Mechanical Engineering
論文出版年：	2015
畢業學年度：	103
語文別：	英文
論文頁數：	91
中文關鍵詞：	撲滿、機器鴨、銅板辨識、翅膀拍動、皮膚擴增
外文關鍵詞：	Piggy bank, robot duck, coin recognition, wing flapping, skin growth
相關次數：	點閱：192 下載：14
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本研究的主要目的係發展一隻可以跟人類互動並藉以激發存錢慾望的撲滿機器鴨。更仔細地說，本研究需要發展一套零錢辨識系統和運送機構、可折疊和拍動的翅膀、鴨嘴巴動作機構、和一個創新可隨著存錢數目增多而膨脹的外層皮膚和羽毛機構。

本研究採用連結bootstrap取樣演算法的隨機森林法(Treebagger)，對霍爾效應感測器節取出的訊號，進行銅板辨識的動作。翅膀折疊和拍動的機構採用遵循Grashof定律的四連桿機構。鴨嘴巴的張合動作採用一個由伺服馬達驅動的齒輪齒條連桿組合。將鴨外層皮膚和羽毛機構膨脹的機制是對記憶合金製成的壓縮彈簧加熱導致膨脹，而逐漸讓壓縮在軟性橡膠下由PLA塑膠製成的鴨身體外表擴張。

總結而言，除所有預先規劃的研發目標都已被實現外，本研究也提出未來將自然語言對話功能加進撲滿機器鴨。還有，本文也建議未來讓撲滿機器鴨有生下零錢蛋的功能。

The main objective of the study was to develop a piggy bank robot duck with interactive functionalities that spur savings by users. Specifically, the study required design and implementation of coin handling mechanism, a wing flapping and folding mechanism, a beak motion mechanism and a novel a skin growth mechanism.
Coin recognition was achieved by means of treebagger ensembles with bootstrap bagging algorithm on the hall sensor output. The wing flapping and folding mechanisms were achieved through 4 bar linkage mechanism following Grashof’s principles. A beak motion mechanism was also implemented through a linkage mechanism and was driven by a rack and pinion assembly connected to a servo motor. Lastly, the skin growth mechanism was achieved by coupling shape memory alloy (SMA) compression springs to suspended PLA body structure held in place by medium soft rubber.
In conclusion, all the laid objectives were implemented and the study proposes that in future, natural language processing capabilities be included in the piggy bank robot. In addition, the study proposes a mother piggy bank robot version be developed with coin egg laying capabilities.

ABSTRACT	                                                I
摘   要	                                                        I
ACKNOWLEDGEMENTS	                                        III
TABLE OF CONTENTS	                                        IV
LIST OF FIGURES	                                                VII
LIST OF TABLES	                                                X
CHAPTER 1	                                                1
INTRODUCTION	                                                1
1 BACKGROUND	                                                1
1.1 Coin Recognition	                                        1
1.2 Animabotics	                                        2
2 OBJECTIVE OF THE STUDY	                                3
2.1 SPECIFIC OBJECTIVES	                                4
3 MOTIVATION	                                                4
4 THESIS STRUCTURE	                                        5
CHAPTER 2	                                                7
MECHANISM DESIGN SYNTHESIS	                                7
1 COIN HANDLING MECHANISM	                                8
1.1 Neodymium Permanent Magnets	                        8
1.2 Proposed Coin Validation Assembly	                        10
2 BIRD WING MECHANISM (FLAPPING AND FOLDING)	                11
2.1 Synchronous Drive Systems	                                11
2.2 Gear Bearings	                                        13
2.3 Regimes of Gear lubrication	                        14
2.4 Gear tooth failures	                                14
2.5 Shaft Design for Gears and Pinion	                        14
2.6 Linkage Mechanisms	                                17
2.7 Proposed Bird Wing Design:	                        18
2.8 Proposed Wing Folding Linkage Design	                20
2.9 Proposed Wing Fold Power Drive Mechanism	                22
2.10 Proposed Wing Flap 4 bar Linkage Assembly	        23
2.11 Proposed Wing Flap Drive Mechanism	                24
2.12 Proposed Wing Flap Full Linkage Assembly	                25
3 BIRD BEAK MECHANISM	                                        25
3.1 Ducks Feeding Mechanisms	                                26
3.2 Proposed Duck’s Beak Motion Mechanism	                28
3.3 Proposed Beak Drive Mechanism	                        28
4 BIRD SKIN GROWTH MECHANISM	                                30
4.1 Shape Memory Alloy (SMA) Materials	                30
4.2 Proposed Duck Skin Growth Mechanism	                34
5 ELECTRONIC COMPONENTS	                                35
5.1 Mathematical Modeling of the Dc Servo Motor	        36
CHAPTER 3	                                                38
RESEARCH METHODOLOGY	                                        38
1 COIN DETECTION ALGORITHM	                                38
1.1 Coin Recognition Algorithm Flowchart	                40
1.2 Coin Recognition Treebagger Algorithm Methodology	        40
2 FEATURE SELECTION METHODS AND CLASSIFICATION	        42
CHAPTER 4	                                                44
RESULTS AND DISCUSSION	                                        44
1 COIN HANDLING MECHANISM	                                44
1.1 Coin Recognition	                                        44
2 WING FLAPPING AND FOLDING MECHANISM	                        45
2.1 Kinematic Analysis Wing Flapping Right Wing	        47
2.2 Kinematic Analysis Wing Flapping Left Wing	        49
2.3 Wing Folding and Unfolding Trace Right Wing	        50
2.4 Wing Folding and Unfolding Trace Left Wing	        52
3 BEAK MOTION MECHANISM	                                53
3.1 Kinematic Analysis Lower Beak Motion	                55
3.2 Kinematic Analysis Upper Beak’s Motion	                55
4 SKIN GROWTH MECHANISM	                                56
5 COST SCHEDULE	                                        57
CHAPTER 5	                                                58
CONCLUSIONS AND FUTURE WORKS	                                58
1 CONCLUSION	                                                58
2 FUTURE WORKS	                                        58
REFERENCES	                                                59
APPENDIX 1: DESIGN PARAMETERS FOR COMPRESSION SPRING	        65
APPENDIX II: SPECIFIC SPUR GEAR CALCULATION PROCEDURE	        66
APPENDIX III: REAL TIME COIN RECOGNITION MATLAB CODE	        68

                                

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