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    Please use this identifier to cite or link to this item: http://ir.lib.ncu.edu.tw/handle/987654321/2508


    Title: 二足機器人之動態步行軌跡分析
    Authors: 廖本煇;Ben-Huei Liao
    Contributors: 機械工程研究所
    Keywords: 步行軌跡;軀幹補償;動態平衡;二足機器人;biped robot;dynamic equilibrium;ZMP
    Date: 2005-07-05
    Issue Date: 2009-09-21 11:48:52 (UTC+8)
    Publisher: 國立中央大學圖書館
    Abstract: 本論文主要研究內容為二足機器人追蹤數種預設步行路徑能力。 機器人之運動分析使用現有數種套裝軟體,並相互配合以完成運動模擬。 使用之軟體有MATLAB、Pro-Engineer、MSC. Visual NASTRAN 4D等三套。在複雜的機器人行為中,下肢為預先規劃之七連桿機構,上肢則僅以一根假設質量集中於末端的桿件,此桿件可於行進時提供補償以完成身軀之動態平衡。 採用順向及逆向運動學推導出整體的動態平衡運動方程式。於MSC. Visual NASTRAN 4D機構模擬期間,利用其與Matlab之間的相互連結計算上肢桿件平衡位置,將此新的平衡位置傳回MSC. Visual NASTRAN 4D機構模擬軟體中,以確保機器人整體之平穩性。 二足機器人各桿件皆以Pro-Engineer繪製,再載入MSC. Visual NASTRAN 4D中執行模擬動作。 步態分析包括有直線行進,繞定點180°,S型路徑,行進間變換速度,直角轉彎及上下階梯等,因應不同的行進方式,所對應的各馬達轉角、足部、甚至腰部路徑的變化也不同,為確保平穩的上肢桿件的馬達轉角更有些許的落差,上述模擬數據可供實作前參考。 The main purpose of this thesis is to analyze the ability of a biped robot to track preset routes. The simulation was completed by combining several computer packages. Those computer packages include MATLAB、PRO-ENGINEER and MSC VISUAL NASTRAN 4D. Among complicated robot behaviors, lower-limb was preset, and upper-limb was designed as a single concentrated mass. The upper-limb was designed to offer compensation for a stable walking. The governing differential equations were derived based on kinematics and dynamic equilibrium considerations. During the simulation, the equilibrium position of the lower-limb positions were calculated first, then utilizing MSC VISUAL NASTRAN 4D and MATLAB to calculate upper-limb equilibrium position. This procedure was repeated when the robot motion proceed. Each link of the biped robot was drawn by Pro-Engineer and then loaded in MSC VISUAL NASTRAN 4D to serve as simulation parameters. Gait analysis includes walking in the straight line, circling 180° at specific point, S-path, changing velocity, right angle turn and climb-down stairs. With different walking modes, different motor rotation angles, foot and waist paths were obtained. The simulation could provide useful design data when design and construction a hardware biped robot.
    Appears in Collections:[機械工程研究所] 博碩士論文

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