| DC 欄位 |
值 |
語言 |
| DC.contributor | 機械工程學系 | zh_TW |
| DC.creator | 柯宏諺 | zh_TW |
| DC.creator | Hong-Yan Ke | en_US |
| dc.date.accessioned | 2007-7-3T07:39:07Z | |
| dc.date.available | 2007-7-3T07:39:07Z | |
| dc.date.issued | 2007 | |
| dc.identifier.uri | http://ir.lib.ncu.edu.tw:88/thesis/view_etd.asp?URN=943203005 | |
| dc.contributor.department | 機械工程學系 | zh_TW |
| DC.description | 國立中央大學 | zh_TW |
| DC.description | National Central University | en_US |
| dc.description.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。 | zh_TW |
| dc.description.abstract | 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. | en_US |
| DC.subject | 零力矩點 | zh_TW |
| DC.subject | ZMP | en_US |
| DC.title | 二足機器人之三軸動態平衡分析 | zh_TW |
| dc.language.iso | zh-TW | zh-TW |
| DC.type | 博碩士論文 | zh_TW |
| DC.type | thesis | en_US |
| DC.publisher | National Central University | en_US |