簡易檢索 / 詳目顯示

回結果列表
研究生： Tesfaye Wakessa Gussu
Tesfaye Wakessa Gussu
論文名稱： Development of Autonomous Flyer Delivery Robot
Development of Autonomous Flyer Delivery Robot
指導教授： 林其禹
Chyi-Yeu Lin
口試委員: 宋開泰
none
陳金聖
none
郭重顯
Chung-Hsien Kuo
邱士軒
Shih-Hsuan Chiu
林柏廷
none
林其禹
Chyi-Yeu Lin
學位類別： 博士
Doctor
系所名稱： 工程學院 - 機械工程系
Department of Mechanical Engineering
論文出版年： 2017
畢業學年度： 105
語文別： 英文
論文頁數： 110
中文關鍵詞： Flyer delivery robot 、Mobile platform 、Flyer delivery means 、Ultrasonic sensor skirt 、Upper body module
外文關鍵詞： Flyer delivery robot, Mobile platform, Flyer delivery means, Ultrasonic sensor skirt, Upper body module
相關次數： 點閱：167  下載：9 
分享至:
查詢本校圖書館目錄 查詢臺灣博碩士論文知識加值系統 勘誤回報
  •  上一筆

    • 本論文旨在開發一種創新的機器人，可以在室內和室外環境中全自主的將傳單發送給潛在的客戶。因此本論文目標是設計和開發具有全自主傳單遞送功能的社交互動式機器人。該機器人的設計和開發採用了模組化設計方法，主要包括全自主式傳單遞送模組與移動平台模組。
    　　傳單遞送模組是一個由許多子模組所構成且構造複雜的內部機構，其子模組包括傳單供給模組、傳單夾取模組、傳單轉送模組和傳單遞送模組等子模組，並透過遞送子模組將傳單遞送至機器人的手掌。機器人同時採用了可替換式的紙匣模塊，能夠容納大小範圍從A5至A7各種尺寸的傳單，並將其有秩序的遞送至機器人手臂上。而機器人手臂在設計上將其配置在能使大多數人都能夠順利取得傳單的高度，包含兒童或是坐在輪椅上的行動不便者皆能順利取得傳單。機器人同時搭載了顯示器模組及音訊播放模組以便與人進行互動，也利用了Kinect感測器進行人體辨識，進而能驅向客戶並與其進行互動。
    　　機器人的移動平台模組在設計上表現了高穩定性且具有障礙物迴避能力。這個機器人的原型在2016年開發完成，並於2016年在台北舉辦的一些展覽會上進行展示。在展覽會中，它成功的吸引了很多人與其進行互動。同時據觀察，本論文開發的機器人可以如預期中有效地進行傳單遞送服務。因此可以得出結論，指出這種類型的社交互動式服務機器人在智能服務機器人市場中具有巨大潛在機會能夠商品化並投入市場

    This thesis aims at developing an innovative robot that can hand flyers to potential customers in a fully autonomous manner in both indoor and outdoor environmental settings. Thus, the work entailed in this thesis targets at designing and developing a socially interactive robot with autonomous flyer delivery function. The design and development of this robot employ a modular design approach wherein the robot comprises an autonomous flyer delivery means and a mobile platform.
    The flyer delivery means is an intricate internal mechanism, comprising a flyer feeding, flyer picking, flyer forwarding and flyer conveying sub-module through which the flyer traverses to the robotic palm; a swappable cassette sub-module for stacking flyers of various sizes ranging from A5 to A7 and tissue packs to the robot palm that is configured at a reachable height for most people including kids and disable person on wheelchair; a display and audio sub-module for interacting with people; a Kinect sensor for detecting an approaching person.
    The mobile platform module of this robot is also designed for high stability, and with obstacle avoidance capabilities. Finally, a prototype of this robot is developed and displayed on a number of exhibitions held in Taipei, in the year 2016, where it gained significant attention from people who pumped into it. It was observed that the developed robot could provide the flyer delivery service effectively as expected. It can be concluded that this type of socially interactive service robot has a great potential opportunity of becoming a product in intelligent service robot market.

    Contents Declaration of Originality i 中文摘要 iii Abstract v Acknowledgements vii List of figures xi List of tables xiii Chapter 1. Introduction 1 1.1 Motivation and research statements 2 1.2 Thesis overview 3 1.3 Thesis organization 3 1.4 Contribution 4 Chapter 2. Literature review 7 2.1. Design approach and steps to the development of FDR 8 2.2. Design steps to the development of FDR. 9 2.3. Performance Specifications of FDR 9 2.4. Flyer delivery capacity specifications 10 2.5. Overall dimension specifications of FDR 10 Chapter 3. Design and development of FDR 13 3.1 Design and development of FDR upper body module 13 3.1.1 The feeding sub-module. 13 3.1.2 Design of leadscrew 14 3.1.2 The Picking sub-module 19 3.1.3 The forwarding sub-module 22 3.1.4 The transmission sub-module 24 3.1.5. Selection of actuators for upper body module of FDR 27 3.2. Design and development of mobile platform of the FDR 30 3.2.1. Modeling and configuration design of Tri-Omnidirectional Wheeled Robotic Platform 30 3.2.2. Configuration design of tri-omnidirectional wheeled mobile robotic platform 31 3.2.3. Mass model of the mobile robotic platform 33 3.2.4. Stability consideration towards the design of tri- omnidirectional wheeled robotic platform 34 3.2.5. Wheel traction and resistance forces 35 3.3. Optimal Design of Tri-Omnidirectional Wheeled Robotic Platform 37 3.3.1 Stability constraints 38 3.3.2 Geometrical constraints 39 3.3.3 Bounds on the MOO 39 Chapter 4. Implementation of geometry based obstacle avoidance on mobile robotic platform 43 4.1. Sensor spacing and skirting strategy 45 4.2. Obstacle avoidance system design 48 4.3. Kinematic equation of tri-omnidirectional wheeled robotic platform 52 Chapter 5. Control system design of flyer delivery robot 55 5.1. Motion control of the upper body module 56 5.2. Motion control of the mobile platform module 59 5.3. Synchronization of the upper body and the mobile platform motion. 60 5.4. Human-flyer delivery robot interaction 60 5.5. smart battery power management system and control 61 5.6. Flyer delivery robot overall control architecture. 63 Chapter 6. Results and discussions 65 6.1. Performance review of the upper body module 65 6.2 Stability analysis of the designed mobile robotic platform 65 6.3. Validation of geometry based obstacle avoidance. 66 6.4 Performance review of the FDR 70 Chapter 7. Conclusions and future works 73 7.1 Conclusions 73 7.2 Future works 75 References 77 Curriculum Vitae 81 Appendix 1 Supplemental design charts for nominal shaft diameter selection. 85 Appendix 2 Supplemental information for leadscrew kinematic pair 87 Appendix 3 Design output of power screw in feeding submodule 88 Appendix 4 Design output of power screw in picking submodule 89 Appendix 5 Supplemental material for designing the timing belt of the feeding submodule 90 Appendix 6 Supplemental material used for designing and selecting the timing belt in the power transmission system of forwarding sub-module. 92 Appendix 7 Experimental output of obstacle avoidance test 93

    References
    [1] "Social robot," WIKIPEDIA The Free Encyclopedia, 6 May 2017 2017.
    [2] F. Tobe. (2015). 2016 will be a pivotal year for social robots, . Available: https://www.therobotreport.com/news/2016-will-be-a-big-year-for-social-robots
    [3] E. Ackerman. (2015). Savioke’s Robot Butler Brings You Room Service. Available: http://spectrum.ieee.org/video/robotics/industrial-robots/saviokes-robot-butler-brings-you-room-service
    [4] Robots for Consumers. Available: http://5elementsrobotics.com/budgee-info/
    [5] CADDYTREK. ( 2017 ). Caddy-Trek. Available: https://www.caddytrek.com/
    [6] C. Breazeal. (2017). JIBO, The World's First Social Robot for the Home. Available: https://www.indiegogo.com/projects/jibo-the-world-s-first-social-robot-for-the-home#/
    [7] N. D. Corporation. (2017). "Sota®" experiment - communication robot for stay-at-home elderly - begins. Available: http://www.roboticstrends.com/article/sota_home_robot_to_care_for_japans_elderly
    [8] (2017). Consumer Robotics. Available: https://www.tractica.com/research/consumer-robotics/
    [9] J. Pransky, "AIBO–the No. 1 selling service robot," Industrial robot: An international journal, vol. 28, pp. 24-26, 2001.
    [10] R. Dieter Schraft, B. Graf, A. Traub, and D. John, "A mobile robot platform for assistance and entertainment," Industrial Robot: An International Journal, vol. 28, pp. 29-35, 2001.
    [11] H. T. Fung, "Method for creating low-cost interactive entertainment robots," ed: Google Patents, 2013.
    [12] A. Ziegler, A. Jones, C. Vu, M. Cross, K. Sinclair, and T. L. Campbell, "Companion robot for personal interaction," ed: Google Patents, 2011.
    [13] N. Roy, G. Baltus, D. Fox, F. Gemperle, J. Goetz, T. Hirsch, et al., "Towards personal service robots for the elderly," in Workshop on Interactive Robots and Entertainment (WIRE 2000), 2000, p. 184.
    [14] B.-J. You, M. Hwangbo, S.-O. Lee, S.-R. Oh, Y. Do Kwon, and S. Lim, "Development of a home service robot'ISSAC'," in Intelligent Robots and Systems, 2003.(IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on, 2003, pp. 2630-2635.
    [15] Y.-T. Chen, T.-W. Lin, H.-Y. Chen, and W.-N. W. Tseng, "Interactive Entertainment Robot and Method of Controlling the Same," ed: Google Patents, 2008.
    [16] G. Baltus, D. Fox, F. Gemperle, J. Goetz, T. Hirsch, D. Magaritis, et al., "Towards personal service robots for the elderly," in Proc. of the Workshop on Interactive Robotics and Entertainment (WIRE-2000), 2000.
    [17] J. M. Evans, "HelpMate: An autonomous mobile robot courier for hospitals," in Intelligent Robots and Systems' 94.'Advanced Robotic Systems and the Real World', IROS'94. Proceedings of the IEEE/RSJ/GI International Conference on, 1994, pp. 1695-1700.
    [18] C. D. Kidd and C. Breazeal, "Robots at home: Understanding long-term human-robot interaction," in Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on, 2008, pp. 3230-3235.
    [19] J. F. Engelberger, Robotics in practice: management and applications of industrial robots: Springer Science & Business Media, 2012.
    [20] R. R. Murphy, "Human-robot interaction in rescue robotics," IEEE Transactions on Systems, Man, and Cybernetics, Part C (Applications and Reviews), vol. 34, pp. 138-153, 2004.
    [21] I. R. Nourbakhsh, K. Sycara, M. Koes, M. Yong, M. Lewis, and S. Burion, "Human-robot teaming for search and rescue," IEEE Pervasive Computing, vol. 4, pp. 72-79, 2005.
    [22] J. Hudson, M. Orviska, and J. Hunady, "People’s Attitudes to Robots in Caring for the Elderly," International Journal of Social Robotics, pp. 1-12, 2016.
    [23] K. Kawamura, D. M. Wilkes, T. Pack, M. Bishay, and J. Barile, "Humanoids: Future robots for home and factory," in International symposium on humanoid robots, 1996, pp. 53-62.
    [24] R. Siegwart, I. R. Nourbakhsh, and D. Scaramuzza, Introduction to autonomous mobile robots, 2011.
    [25] D. Apostolopoulos, "Analytic configuration of wheeled robotic locomotion," 2001.
    [26] C. J. Vaz and E. Wade, "Design of a Low-Cost Social Robot for Children With Complex Communication Needs," Journal of Medical Devices, vol. 10, p. 030943, 2016.
    [27] A. Agah, J.-J. Cabibihan, A. Howard, M. A. Salichs, and H. He, Social Robotics: 8th International Conference, ICSR 2016, Kansas City, MO, USA, November 1-3, 2016 Proceedings vol. 9979: Springer, 2016.
    [28] J.-Y. Sung, "Towards the human-centered design of everyday robots," Georgia Institute of Technology, 2011.
    [29] A. Green, H. Huttenrauch, M. Norman, L. Oestreicher, and K. S. Eklundh, "User centered design for intelligent service robots," in Robot and Human Interactive Communication, 2000. RO-MAN 2000. Proceedings. 9th IEEE International Workshop on, 2000, pp. 161-166.
    [30] C. Abras, D. Maloney-Krichmar, and J. Preece, "User-centered design," Bainbridge, W. Encyclopedia of Human-Computer Interaction. Thousand Oaks: Sage Publications, vol. 37, pp. 445-456, 2004.
    [31] T. Fong, I. Nourbakhsh, and K. Dautenhahn, "A survey of socially interactive robots," Robotics and autonomous systems, vol. 42, pp. 143-166, 2003.
    [32] S. Pheasant and C. M. Haslegrave, Bodyspace: Anthropometry, ergonomics and the design of work: CRC Press, 2016.
    [33] I. A. r. r. Thomson Industries. ( 2015 ). Linear MOTIONEERING® Ball & Lead Screw Sizing & Selection Tool Available: http://www.thomsonlinear.com/website/com/eng/products/ball_screws_and_lead_screws/lead_screws.php
    [34] H. Xu, D. Tan, Z. Zhang, Z. Gao, G. Peng, and C. Li, "Trade-offs design of mobile robot based on multi-objective optimization with respect to terramechanics," in Advanced Intelligent Mechatronics, 2009. AIM 2009. IEEE/ASME International Conference on, 2009, pp. 239-244.
    [35] G. Freitas, G. Gleizer, F. Lizarralde, and L. Hsu, "Multi-objective optimization for kinematic reconfiguration of mobile robots," in Automation Science and Engineering (CASE), 2010 IEEE Conference on, 2010, pp. 686-691.
    [36] N. Li, S. Ma, M. Wang, B. Li, and Y. Wang, "An optimization design method for the mechanism parameters of an amphibious transformable robot," in Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, 2012, pp. 2282-2288.
    [37] A. Song, G. Song, D. Constantinescu, L. Wang, and Q. Song, "Sensors for Robotics 2015," Journal of Sensors, 2015.
    [38] A. M. Zaki, O. Arafa, and S. I. Amer, "Microcontroller-based mobile robot positioning and obstacle avoidance," Journal of Electrical Systems and Information Technology, vol. 1, pp. 58-71, 2014.
    [39] E. Masehian and Y. Katebi, "Sensor-based motion planning of wheeled mobile robots in unknown dynamic environments," Journal of Intelligent & Robotic Systems, vol. 74, pp. 893-914, 2014.
    [40] J. Borenstein and Y. Koren, "Real-time obstacle avoidance for fast mobile robots," IEEE Transactions on Systems, Man, and Cybernetics, vol. 19, pp. 1179-1187, 1989.
    [41] I. Doroftei, V. Grosu, and V. Spinu, Omnidirectional mobile robot–design and implementation: INTECH Open Access Publisher, 2007.
    [42] A. Medina-Santiago, J. Camas-Anzueto, J. A. Vazquez-Feijoo, H. Hernández-de León, and R. Mota-Grajales, "Neural control system in obstacle avoidance in mobile robots using ultrasonic sensors," Journal of applied research and technology, vol. 12, pp. 104-110, 2014.
    [43] P. G. Zavlangas, S. G. Tzafestas, and K. Althoefer, "Fuzzy obstacle avoidance and navigation for omnidirectional mobile robots," in European Symposium on Intelligent Techniques, Aachen, Germany, 2000, pp. 375-382.
    [44] H. Omrane, M. S. Masmoudi, and M. Masmoudi, "Fuzzy Logic Based Control for Autonomous Mobile Robot Navigation," Computational Intelligence and Neuroscience, vol. 2016, 2016.
    [45] Y. Kondo, T. Miyoshi, K. Terashima, and H. Kitagawa, "Navigation guidance control using haptic feedback for obstacle avoidance of omni-directional wheelchair," in 2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2008, pp. 437-444.
    [46] D. Tuvshinjargal, B. Dorj, and D. J. Lee, "Hybrid motion planning method for autonomous robots using Kinect based sensor fusion and virtual plane approach in dynamic environments," Journal of Sensors, vol. 2015, 2015.
    [47] S. Wen, W. Zheng, J. Zhu, X. Li, and S. Chen, "Elman fuzzy adaptive control for obstacle avoidance of mobile robots using hybrid force/position incorporation," IEEE Transactions on Systems, Man, and Cybernetics, Part C (Applications and Reviews), vol. 42, pp. 603-608, 2012.
    [48] N.-S. Pai, H.-H. Hsieh, and Y.-C. Lai, "Implementation of obstacle-avoidance control for an autonomous omni-directional mobile robot based on extension theory," Sensors, vol. 12, pp. 13947-13963, 2012.
    [49] P. F. Muir and C. P. Neuman, "Kinematic modeling of wheeled mobile robots," Journal of robotic systems, vol. 4, pp. 281-340, 1987.
    [50] Y. Leow, K. H. Low, and W. Loh, "Kinematic modelling and analysis of mobile robots with omni-directional wheels," in Control, Automation, Robotics and Vision, 2002. ICARCV 2002. 7th International Conference on, 2002, pp. 820-825.
    [51] R. Siegwart, I. R. Nourbakhsh, and D. Scaramuzza, "Autonomous mobile robots," Massachusetts Institute of Technology, 2004.
    [52] C. J. Wu, T. L. Chien, T. L. Lee, and L. C. Lai, "Navigation of a mobile robot in outdoor environments," Journal of the Chinese Institute of Engineers, vol. 28, pp. 915-924, 2005.

    QR CODE