博碩士論文 943203005 詳細資訊


姓名 柯宏諺(Hong-Yan Ke)  查詢紙本館藏   畢業系所 機械工程學系
論文名稱 二足機器人之三軸動態平衡分析
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摘要(中) 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。
摘要(英) 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.
關鍵字(中) ★ 零力矩點 關鍵字(英) ★ ZMP
論文目次 摘要.......................................................I
Abstract..................................................II
誌謝.....................................................III
目次.....................................................IV
圖目錄...................................................VI
表目錄.....................................................X
第一章 緒論 ...............................................1
1.1 前言 ..................................................1
1.2 文獻回顧 ..............................................4
1.4 本文架構 ..............................................5
第二章 二足機器人模型架構及運動學推導 .....................6
2.1 二足機器人之模型假設與定義 ............................6
2.2 順向運動學 ............................................9
2.3 逆向運動學 ...........................................10
第三章 ZMP與三軸軀幹補償方法之探討........................17
3.1 零力矩點 .............................................17
3.2 ZMP之公式推導.........................................18
3.3 動態步行之三軸軀幹補償方法............................22
第四章 路徑規劃與模擬結果 ................................25
4.1模擬架構與流程.........................................25
4.2 直線步行 .............................................27
4.3 行進間變速............................................37
4.3.1行進間變速(變步伐) ..............................37
4.3.2行進間變速(變步態週期)...........................37
4.4 上斜坡 ...............................................48
4.5模擬結果...............................................55
第五章 結論與未來展望 ....................................56
參考文獻..................................................57
附錄A.....................................................60
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指導教授 張江南(Chiang-Nan Chang) 審核日期 2007-7-3
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