臺灣博碩士論文加值系統

本作品「仿生四足腿式機器人」是一個以直流無刷馬達驅動的四足機器人，主要由四組仿生物腿部結構所組成，每條腿使用三顆直流無刷馬達與皮帶驅動，經由無線遙控器傳送控制指令，由機器人以逆向運動學算出各軸角度並控制馬達，完成前進、匍匐等動作。
腿部的馬達配置為第一顆馬達與第二顆馬達相差90度，第三顆馬達的位置平行於第二顆馬達並使用皮帶與皮帶輪驅動小腿，減少末端小腿的轉動慣量。機器人的身體以POM材質的支撐結構加上鋁合金材質外殼所構成，身體內配置機器人主控電腦與電源電池，小腿考慮到要支撐全機重量材質鋁合金由CNC削切加工處理，小腿結構參考H型鋼設計達到減輕重量與堅固的目的，腳掌使用壁球吸收接觸地面時產生的反作用力，小巧的機身與腿式結構可以在崎嶇不平的地形如:石子地、泥地、草叢等複雜地形進行探索，機器人可以使用無線遙控器進行遠端控制，依探索需求加裝各種感測器如:人體紅外線、煙霧、溫溼度感測器、攝影機等等眾多感測設備，配合藍芽或WIFI傳回使用者端，代替人類進入高危險環境進行偵察搜救，減少人員的傷亡。

This work “The biomimetic quadruped robot” is a four-legged robot driven by brushless DC motors (BLDMs). It is comprised of four sets of biomimetic structures that mimic four legs, and each set is driven by three BLDMs and belts. The control commands for the robot are sent by a wireless controller. The robot then calculates the axis angles based on inverse kinematics, drives the motors, and performs movements such as advancements, and creeping.
The motors of each leg are configured such that the first and the second motors are separated by 90 degrees. The third motor is positioned in parallel to the second motor and the lower leg is driven by a belt and a pulley to reduce the rotational inertia of the lower leg. The body of the robot is composed of the POM-made supporting structure and the shell is made of aluminum alloy. The interior of the body is configured with a computer console and batteries. The crus, which has to support the entire robot, is made of CNC-cut and -processed aluminum alloy. It is designed based on the H-shaped steel in order to reduce the weight and to improve the reinforcement. The “sole of foot” of each leg is made from squash, which can absorb the reaction forces during ground contacts. The small and exquisite body and leg structures allow the robot to explore rough or complex terrains, such as pebbles, mud and bush. The robot, which can be controlled remotely, is able to equip various sensors depending on the need of the exploration, such as human infrared cameras, smog detectors, thermometers, humidity sensors, and video cameras. Bluetooth or WIFI devices can also be installed, which send the data back to the user, and can replace humans in high-risk environments and reduce fatalities in search and rescue operations.

摘要.......i
Abstract.......ii
誌謝.......iii
目錄.......iv
表目錄.......vi
圖目錄.......vii
第一章 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.......6
第二章 系統架構.......7
2.1 機器人硬體系統架構.......7
2.1.1 主控制系統.......8
2.1.2 馬達控制系統.......10
2.1.3 電力系統.......12
2.2 機器人軟體系統架構.......13
2.2.1 Python.......13
2.2.2 Anaconda.......14
2.2.3 Arduino Software IDE.......14
第三章 研究內容.......15
3.1 機器人系統手臂運動控制介紹.......15
3.1.1 直流無刷馬達介紹.......15
3.1.2 直流無刷馬達控制原理.......16
3.1.3 馬達通訊協定(CAN-BUS).......18
3.1.4 馬達控制控制封包傳送格式.......19
3.2 機器人硬體設計.......20
3.2.1 機器人機構設計.......20
3.2.2 腿部機構.......21
3.2.3 身體機構.......22
3.3 四足機器人腿部逆向運動學.......23
3.4 機器人的動作方法.......26
3.5 四足機器人程式控制流程.......29
第四章 實際成果與測試.......30
第五章 結論與未來展望.......34
參考文獻.......35
Extended Abstract.......37

[1]Spot，2020年，摘自
https://www.bostondynamics.com/spot/technology
[2]Unitree A1，2020年，摘自
http://www.unitree.cc/e/action/ShowInfo.php?classid=6&id=366
[3]Big Dog，2020年，摘自
https://www.youtube.com/watch?v=cNZPRsrwumQ
[4]LS3，2020年，摘自
https://www.youtube.com/watch?v=R7ezXBEBE6U
[5]Laikago，2020年，摘自
http://www.unitree.cc/e/action/ShowInfo.php?classid=6&id=1
[6]Aliengo，2020年，摘自
http://www.unitree.cc/e/action/ShowInfo.php?classid=6&id=1
[7]Gerardo Bledt, Matthew J. Powell, Benjamin Katz,Jared Di Carlo, Patrick M. Wensing, and Sangbae Kim,2018, “MIT Cheetah 3: Design and Control of a Robust, Dynamic Quadruped Robot”, IEEE International Conference of Intelligent Robots (IROS)
[8]Katz Benjamin, 2018,“A Low Cost Modular Actuator for Dynamic Robots”
[9]Boston Dynamics , Inc. , 2016, MOTOR AND CONTROLLER INTEGRATION FOR A LEGGED ROBOT, Patent No. US 10300609 B2
[10]杭州宇树科技有限公司,2019, 一种机器人组合关节单元及应用其的足式机器人, 授权公告号CN 209814145 U
[11]UP board，2020年，摘自
https://www.aaeon.com/tw/p/up-board-computer-board-for-professional-makers
[12]DUALSHOCK4，2020年，摘自
https://asia.playstation.com/cht-tw/accessories/dualshock4/
[13]D401，2020年，摘自
https://www.e-sense.com.tw/download.php?lang=tw&tb=2&cid=25
[14]王继国，吉吟东，孙新亚，2004，”CAN总线控制器MCP2515的原理及应用”， 电测与仪表，4l卷，457期，頁52~56，1月
[15]Arduino UNO，2020年，摘自
https://store.arduino.cc/usa/arduino-uno-rev3
[16]Original MIT Mini Cheetah four-legged robot dog servo motor joint modul reducer original MIT motor driver torque control mode，2020年，摘自
https://www.aliexpress.com/item/4000311364193.html?spm=a2g0o.detail.1000014.45.194f2f95rxkSCA&gps-id=pcDetailBottomMoreOtherSeller&scm=1007.14976.178076.0&scm_id=1007.14976.178076.0&scm-url=1007.14976.178076.0&pvid=20836676-ff43-4147-8a26-44636197ed1e&_t=gps-id:pcDetailBottomMoreOtherSeller,scm-url:1007.14976.178076.0,pvid:20836676-ff43-4147-8a26-44636197ed1e,tpp_buckets:668%230%23131923%230_668%23808%235965%23275_668%23888%233325%237_4976%230%23178076%230_4976%232711%237538%23115_4976%233223%2310328%231_4976%233104%239653%2310_4976%233141%239887%232_668%232846%238110%23386_668%232717%237566%23893_668%231000022185%231000066055%230_668%233422%2315392%23284
[17]18650電池介紹，2020年，摘自
https://battery9999.com/18650鋰電池介紹/
[18]JBD-HP07SA，2020年，摘自
http://www.jiabaida.com/home-pt-info-id-26-catId-27.html
[19]Python開發環境-Anaconda介紹，2020年，摘自
https://www.uuu.com.tw/Public/content/article/18/20180709.htm
[20]Anaconda介紹及安裝教學，2020年，摘自
https://medium.com/python4u/anaconda介紹及安裝教學-f7dae6454ab6
[21]Arduino Software IDE，2020年，摘自
https://www.arduino.cc/en/main/software
[22]何謂DC無刷馬達？，2020年，摘自
https://www.orientalmotor.com.tw/teruyo_det/teruyo_28/
[23]外轉子與內轉子馬達的區別，2020年，摘自
http://www.amitsys.consulting/2017/11/09/外轉子與內轉子馬達的區別/
[24]無刷 DC 馬達控制介紹，2020年，摘自
https://www.digikey.tw/zh/articles/an-introduction-to-brushless-dc-motor-control
[25]BLDC直流無刷馬達的控制，摘自
https://www.renesas.com/tw/zh/support/technical-resources/engineer-school-tw/brushless-dc-motor-02-inverter-pmw-tw.html#delivers-smooth-rotation
[26]CAN - 成大資工Wiki，2020年，摘自
http://wiki.csie.ncku.edu.tw/embedded/CAN
[27]Controller Area Network (CAN BUS) 通訊協定原理概述，2020年，摘自
https://www.ni.com/zh-tw/innovations/white-papers/06/controller-area-network--can--overview.html
[28]王鹏飞，2007，”四足机器人稳定行走规划及控制技术研究”
[29]高扭矩時規皮帶　S3M型，2020年，摘自
https://tw.misumi-ec.com/vona2/detail/110302652940/?KWSearch=S3M&searchFlow=results2products
[30]超高扭矩時規皮帶　EV5GT型，2020年，摘自
https://tw.misumi-ec.com/vona2/detail/110302652240/?KWSearch=5GT&searchFlow=results2products