二足機器人之三軸動態平衡分析

NCUIR > Engineering College > Graduate Institute of Mechanical Engineering > Electronic Thesis & Dissertation > Item 987654321/2834

Please use this identifier to cite or link to this item: http://ir.lib.ncu.edu.tw/handle/987654321/2834

Title:	二足機器人之三軸動態平衡分析
Authors:	柯宏諺;Hong-Yan Ke
Contributors:	機械工程研究所
Keywords:	零力矩點;ZMP
Date:	2007-06-29
Issue Date:	2009-09-21 11:57:33 (UTC+8)
Publisher:	國立中央大學圖書館
Abstract:	本論文主要內容為設計二足機器人之上肢，以及利用上肢繞X、繞Y、繞Z軸來進行補償，保持在動態模擬中能穩定的行走。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，利用ZMP推導出軀幹補償X、Y位置及繞Z軸之微分方程。於MSC. Visual NASTRAN 4D機構模擬期間，利用其與Matlab之間的相互連結解出上肢桿件平衡位置，將此新的平衡位置傳回MSC. Visual NASTRAN 4D模擬軟體中，以確保機器人整體之平穩。所使用之套裝軟體則包括MATLAB、Pro-Engineer、MSC. Visual NASTRAN 4D等三套。 The main purpose of this thesis is to design the biped robot of upper- limb. Dynamic walking for a biped walking robot to compensate for the three-axis (pitch, roll and yaw-axis) angle on an arbitrary planned ZMP by trunk motion. The governing differential equations were derived based on kinematics and dynamic equilibrium considerations. The three-axis differential equations are derived from ZMP theory. In the MSC VISUAL NASTRAN 4D 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 and yaw-axis angle. This procedure was repeated when the robot motion proceed.
Appears in Collections:	[Graduate Institute of Mechanical Engineering] Electronic Thesis & Dissertation

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