臺灣博碩士論文加值系統

本機器人是一個用直流式無刷馬達來做驅動的四足式機器人，由四組仿生腿部構成，每組則由三顆無刷馬達藉由皮帶與齒輪驅動，再經由平板和藍芽做訊號傳遞，機器人步伐則由逆向運動學計算出各馬達所需轉動的角度，來完成前進、後退等動作。
腿部的設計方面，由兩顆馬達作為大腿軸另一顆馬達結合皮帶承軸帶動小腿，第三顆馬達則平行於前兩顆，使機器人能夠左右橫移，機器人身體結構則採用POM材質做馬達之間的固定鍵，搭配上鋁合金作為機器人的骨架設計。小腿部分考慮到耐重設計則採用CNC加工切削搭配3D繪製符合機器人要求的腿部金屬鍵，在尾端配置能吸收反作用力的壁球，來使機器人在行走時能更加穩定。
本論文探討四足機器人以三角步態和狗快走兩種行走步態模擬下，透過支撐面所受的壓力中心推算，機器人在行走時的穩定性以及前進時步伐所移動的距離，探討其行走步伐、重心配置和穩定性問題。

This robot is a quadruped robot driven by a DC brushless motor. It consists of four sets of bionic legs. Each set is driven by three brushless motors through belts and gears. The signal is transmitted, and the robot's steps are calculated by inverse kinematics to calculate the required rotation angle of each motor to complete actions such as forward, backward, or over obstacles.
In terms of leg design, two motors are used as thigh shafts, another motor is combined with a belt bearing to drive the calf, and the third motor is parallel to the first two, enabling the robot to traverse left and right. The body structure of the robot is made of POM material. The fixed key between the motors is matched with aluminum alloy as the skeleton design of the robot. Taking into account the weight-resistant design of the calf, CNC machining and cutting are used with 3D drawing of metal keys for the legs that meet the requirements of the robot, and a squash ball that can absorb the reaction force is arranged at the end to make the robot more stable when walking.
This paper discusses four cases of stability with gait and fast center, through the calculation of the surface, the pressure of the robot when walking and the distance moved when moving forward, and the distance, center of gravity configuration and stability of the walking dog Sexual issues.

摘要..............................................................i
Abstract.........................................................ii
誌謝............................................................iii
目錄.............................................................iv
表目錄...........................................................vi
圖目錄..........................................................vii
第1章 緒論........................................................1
1.1 研究背景......................................................1
1.2 研究動機......................................................1
1.3 文獻探討......................................................2
1.3.1 四足機器人發展..............................................2
1.3.2 四足機器人的腿部構造.........................................4
1.4 論文架構......................................................7
第2章 系統架構....................................................8
2.1 機器人硬體系統架構............................................8
2.1.1 主控制系統..................................................9
2.1.2 馬達控制系統...............................................11
2.1.3 電力系統...................................................13
2.2 機器人軟體系統架構............................................15
2.2.1 Arduino Software IDE......................................15
2.2.2 Anaconda..................................................15
2.2.3 Python....................................................16
2.2.4 Microsoft Visual Studio 2017..............................16
2.2.5 MIT App Inventor 2........................................17
第3章 研究內容....................................................19
3.1 機器人系統運動控制介紹........................................19
3.1.1 直流無刷馬達介紹[24][25]....................................19
3.1.2 直流無刷馬達控制原理[26][27]................................20
3.1.3 AI伺服馬達通訊協定(CAN-BUS) [28][29][30]....................22
3.1.4 馬達控制控制封包傳送格式....................................23
3.2 機器人硬體設計...............................................24
3.2.1 機器人機構設計.............................................24
3.2.2 腿部機構..................................................25
3.2.3 身體機構..................................................26
3.3 四足機器人腿部逆向運動學[31].................................27
3.4 四足機器人穩定性分析[32][33].................................31
3.4.1 支撐面壓力中心方程式推算...................................31
3.4.2 穩定性平衡與分析..........................................32
3.5 機器人的動作方法[34][35][36]................................33
3.5.1 狗的快步步態與時序分析.....................................33
3.5.2 蜥蜴三角爬行步態與狗靜態行走步態時序分析....................35
3.6 四足機器人程式控制流程......................................38
第4章 實際成果與測試...........................................39
4.1 四足機器人機構測試與改良...................................39
4.2 四足機器人步態測試........................................40
第5章 結論與未來展望..........................................44
5.1 結論....................................................44
5.2 未來展望.................................................44
參考文獻.....................................................45
Extended Abstract...........................................48

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