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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/35404

    Title: 兩輪自走車之機構設計
    Other Titles: Design of the two-wheeled transporter
    Authors: 蔡慶豐;Tsai, Ching-feng
    Contributors: 淡江大學機械與機電工程學系碩士班
    楊智旭;Yang, Jr-syu
    Keywords: 兩輪自走車;模糊理論;機構設計;機電整合;Two wheels Transporter;Fuzzy Theory;Manufacture design;Machine electricity integration
    Date: 2007
    Issue Date: 2010-01-11 06:29:31 (UTC+8)
    Abstract: 本論文的目的是設計一部兩輪自走車的雛形,使其可以模擬人員乘載操作的過程,類似人類操控兩輪自走車的實際情形。兩輪自走車包括車體主結構與平衡系統設計,驅動元件的評估與選用,輪胎選用、傳動機構及機電整合設計與製作。
    The objective of this thesis is to design the prototype of a two-wheeled transporter for human beings. The research work includes the mechanical components design and manufacturing, structure analysis and simulation, choosing of electrical motors, drivers, battery, and electromechanical system integration.
    The computer aided-design (CAD) software package (ProE) is used to design the 3D prototype of initial concept of this transporter. Then the prototype is designed based on the above concept and the calculated dimensions of all the mechanical parts. A tilt sensor and gyro are used to measure the inclination angle and the angular velocity of the transporter. A control device of the variable load is used to simulate the behavior of human-beings who lean forward or backward when they stand on the two-wheel transporter. The input signals of the controller are inclination angle and angular velocity.A fuzzy controller is designed to control the stability of this transporter by the motor outputs.
    The major contribution of this thesis is to develop a two-wheeled transporter for human beings. A control device of the variable load is used to analyze dynamic moving behavior, and apply the fuzzy theory in controller design, and to simulate balance model of two-wheeled transporter.
    Appears in Collections:[Graduate Institute & Department of Mechanical and Electro-Mechanical Engineering] Thesis

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