機器蛇之設計製作與控制｜國立臺灣科技大學博碩士論文系統

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研究生：	林志宏 Chih-hung Lin
論文名稱：	機器蛇之設計製作與控制 The Design Implementation and Control of a Snake-like Robot
指導教授：	施慶隆 Ching-long Shih
口試委員:	李文猶 Wen-Yo Lee 劉昌煥 Chang-huan Liu
學位類別：	碩士 Master
系所名稱：	電資學院 - 電機工程系 Department of Electrical Engineering
論文出版年：	2005
畢業學年度：	93
語文別：	中文
論文頁數：	86
中文關鍵詞：	機器蛇
外文關鍵詞：	snake like robot
相關次數：	點閱：277 下載：8
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上一筆

本論文之目的在設計ㄧ具備爬行運動能力的機器蛇。機器蛇的機械主體是由12顆伺服馬達來組成，每2顆伺服馬達結合成ㄧ組蛇關節，並於各關節底部裝設輔助運動爬行的被動輪。控制器採用2個美國Microchip公司16位元dsPIC30F6012微控制器。機器蛇運動姿態的改變是模仿蛇類最普遍的運動方式，並稱為蜿蜒爬行（Serpentine Crawling）模式。在此爬行運動的過程中，身體呈現近似於正弦波的波浪狀，經由軀幹向左右兩側不停交替擺動的同時，因軀幹與接觸面的摩擦力，以達到爬行運動的目的。本論文配合機器蛇機械架構以及dsPIC30F6012微控制器本身的特性，發展出適當的蛇紋曲線爬行運動軌跡，以實現爬行運動。

The purpose of this paper is to build a snake-like robot , which has locomotive movement ability as a biological snake. The snake-like robot’s mechanism is built in with rugged open frame and 12 RC servo motors, in which 2 motors are grouped together as a sake-joint and 2 passive wheels are underneath to enhance its mobility. Two Microchip dsPIC30F6012 microcontrollers are used as the snake-like robot’s locomotion controller . The most common locomotion of biological snakes is a sine-wave like locomotion and it is called the serpenoid crawling motion. In this locomotion mode, the snake’s body moves side-to-side in a sine-wave from in order to reduce the counterproductive drag friction and move forward. This paper has developed a serpenoid curve trajectory and implemented on the dsPIC30F6012 controllers so that the build snake-like robot can move in an even floor.

中文摘要....................................................................Ⅰ
英文摘要................................................................... Ⅱ
致謝....................................................................... Ⅲ
目錄........................................................................Ⅳ
圖表索引....................................................................Ⅶ

第一章   緒論...............................................................1
1﹒1   研究動機.............................................................1
1﹒2   文獻回顧.............................................................2
1﹒3   論文架構.............................................................3

第二章   機器蛇機械構造與數學模型...........................................4
2﹒1   機器蛇機械構造.......................................................4
2﹒2   機器蛇運動限制方程式.................................................8
2﹒3   機器蛇動力方程式.....................................................13


第三章　  機器蛇軌跡規劃原理................................................16
3﹒1   蛇類爬行的運動模式...................................................16
3﹒2   機器蛇蛇紋曲線軌跡的規劃.............................................19
第四章  　機器蛇控制器實現..................................................25
4﹒1   機器蛇整體系統架構...................................................25
4﹒2   機器蛇硬體系統架構...................................................27
4﹒2﹒1   電源模組..........................................................28
4﹒2﹒2   dsPIC30F6012微控制器..............................................29
4﹒2﹒3   RS232通訊模組.....................................................32
4﹒2﹒4   I2C通訊模組.......................................................34
4﹒2﹒5   遙控伺服馬達模組..................................................35
4﹒3   機器蛇軟體系統架構...................................................37
4﹒3﹒1   主程式控制流程....................................................37
4﹒3﹒2   執行命令程式控制流程..............................................39
4﹒4   機器蛇蛇紋曲線軌跡規劃流程...........................................45
4﹒4﹒1   機器蛇蛇紋曲線軌跡參數設定........................................48
4﹒4﹒2   機器蛇個別關節偏移角度的參數設定..................................50
4﹒4﹒3   設定機器蛇爬行的運動方向..........................................52
4﹒4﹒4   計算各關節初始軌跡點與運動模式的執行..............................52

第五章　  實驗結果..........................................................54
5﹒1   機器蛇蛇紋軌跡曲線初始化設定結果.....................................54
5﹒2   機器蛇運動實驗結果...................................................56
5﹒2﹒1   機器蛇直線運動實驗結果............................................56
5﹒2﹒2   機器蛇圓弧運動實驗結果............................................62

第六章   結論與未來展望.....................................................68
   6﹒1   結論..............................................................68
6﹒2   未來研究方向.........................................................69

參考文獻....................................................................70

                                

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