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:278 下載:8 |
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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.
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