二足機器人之三軸動態平衡分析

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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

參考文獻

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指導教授

張江南(Chiang-Nan Chang)

審核日期

2007-7-3

推文