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系統識別號 U0026-3008201714122400
論文名稱(中文) 水陸自走兩棲蛇機器人設計
論文名稱(英文) Design of an Autonomous Amphibious Snake Robot
校院名稱 成功大學
系所名稱(中) 工程科學系
系所名稱(英) Department of Engineering Science
學年度 105
學期 2
出版年 106
研究生(中文) 陳建廷
研究生(英文) Chien-Ting Chen
學號 N96044450
學位類別 碩士
語文別 中文
論文頁數 40頁
口試委員 指導教授-王榮泰
口試委員-周榮華
口試委員-王宗一
口試委員-陳澤生
口試委員-吳村木
中文關鍵字 蛇型機器人  Solidworks  3D列印 
英文關鍵字 Amphibious Snake Robot  Solidworks  3D printing 
學科別分類
中文摘要 本文內以兩棲型機器人主題為核心,設計一隻適用於救援與探索兩功能的蛇型機器人。本文的研究重點在於透過紅外線感測器測量機器蛇相對於環境的距離;並提出自主判斷環境能力與方向控制相連接的控制方法及提高此兩棲蛇型機器人爬行和游泳的能力,實驗結果表明這種方法是有用的。

本文使用Solid Works來進行機構設計,並組裝機構後進行運動模擬,機器蛇所有的結構設計都是通過3D列印製作完成,動力來於伺服馬達,此隻兩棲蛇型機器人的幾何尺寸為長180cm寬10cm高10cm,重量約5.2kg(包含所有硬體零件),實驗結果在陸上前進速度為3.125cm/s,水上的前進速度26.923cm/s,在水陸直線方向穩定度高。
英文摘要 Snake robots display advantage in areas such as rescue, exploration and search because of its ability to move through tight spaces.

The paper introduces the design of a mechanical snake robot, which can sense the environment by the ability of measuring distance. We propose a control technique that connects environment adaptation with directional control.

In the purpose of increasing the ability of amphibious snake robot to crawl and swim, we proposed to increase the crawling ability, swimming stability and direction control at the same time.
The results show that this technique is useful. The crawling speed is 3.125 cm/sec. The swimming speed is 26.923 cm/sec and the direction is straighter.

All of the structures and designs are set up with a 3D Printing.
論文目次 目錄
中文摘要 I
Extended Abstract II
誌謝 IX
表目錄 XIII
圖目錄 XIV
第 一 章 序論 1
1.1 研究背景 1
1.2 文獻回顧 3
1.3 研究動機與目的 4
1.4 論文架構 5
第 二 章 系統架構與硬體介紹 6
2.1 仿生蛇的系統架構 6
2.2 仿生蛇的硬體系統架構與程式規劃 7
2.3 控制晶片與軟體 9
2.3.1 核心晶片-PIC18F4520 9
2.3.2 LinkIt™ Smart 7688 Duo 10
2.3.3 軟體使用 11
2.4 硬體介紹 12
2.4.1 紅外線感測器 GP2Y0A21 12
2.4.2 GPS NEO-7M感測器 14
2.4.3 慣性感測器- MPU6500 14
2.4.4 伺服馬達控制板 15
2.4.5 伺服馬達LDX-335MG 16
2.4.6 DC-DC LM2596 降壓模組 16
2.4.7 Logitech C525 17
2.4.8 RN171 WiFly模組 17
2.4.9 FULLYMAX鋰聚合物電池 18
第 三 章 機構設計與驗證 19
3.1 機構設計 19
3.2 運動方式 23
3.3 水上平衡控制 26
3.3.1 水上運動直線度問題 26
3.3.2 解決方法:使用慣性感測器 27
3.4 避開障礙功能 29
3.5 人機介面 30
第 四 章 實驗結果與討論 32
4.1 陸上行走測試 32
4.2 水上前進測試 35
第 五 章 結論與建議 38
5.1 結論 38
5.2 建議 38
參考文獻 39

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[13] https://zh.wikipedia.org/wiki/東日本大震災(2017/7)
[14]Microchip Technology Inc.,”PIC18F2420/2520/4420/4520 Data Sheet,”
http://ww1.microchip.com/downloads/en/DeviceDoc/39631E. pdf (2017/7)
[15]聯發科技,”LinkIt Smart 7688 Duo,”
https://labs.mediatek.com/zh-tw/platform/linkit-smart-7688 (2017/7)
[16] SHARP,”GP2Y0A21YK/GP2Y0D21YK general purpose type distance measuring sensors,” https://www.sparkfun.com/datasheets/Components/GP2Y0A21YK. pdf (2017/7).
[17] TDK InvenSense,” MPU-6500 six-Axis (gyro + accelerometer) mems motion tracking™ devices,”https://www.invensense.com/products/motion-tracking/6-axis/mpu-6500/ (2017/7).
[18] L. Perry,”How Snakes Work [Newsgroup],”Retrieved from http://animals.howstuffworks.com/snakes/snake3.htm (2017,July 25).
[19]趙翊雄, 魟魚型水中機器人研製, 國立成功大學工程科學系碩士論文,2010
[20]李開偉, 陳慶忠, 劉立文, 陳志勇, 三種地板摩擦測試儀之比較,中華大學工業管理系,2013
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