淡江大學機構典藏:Item 987654321/35630
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    Please use this identifier to cite or link to this item: https://tkuir.lib.tku.edu.tw/dspace/handle/987654321/35630


    Title: 人形機器人機構設計與應用
    Other Titles: Mechanism design of humanoid robots and their applications
    Authors: 詹翔閔;Chan, Hsiang-min
    Contributors: 淡江大學電機工程學系碩士班
    翁慶昌;Wong, Ching-chang
    Keywords: 機構設計;人形機器人;居家機器人;Mechanism design;humanoid robot;Home robot
    Date: 2008
    Issue Date: 2010-01-11 06:53:32 (UTC+8)
    Abstract: 本論文主要是小型人形機器人與居家人形機器人之機構設計與運動控制。本論文所設計實現的小型人形機器人名為TWNHR-4，其身高及重量分別為43公分及3.4公斤。TWNHR-4之頭部具有2個自由度、手部各具有4個自由度、腰部具有2個自由度，以及腳部各具有7個自由度。具有26個自由度的人形機器人機構設計讓TWNHR-4能像人類一樣的直走後退、左右平移、左右轉、爬起、舉重與投籃。此外，本論文所設計實現的居家人形機器人名為TWNHSR-1，其高度及重量分別為123公分及16.3公斤。TWNHSR-1是一台具有2個輪子與2隻手臂的居家人形機器人， TWNHSR-1之頭部具有2個自由度、手部各具有6個自由度，以及底盤具有2個驅動輪。具有6個自由度的手部機構設計能透過逆運動學的控制規劃來讓TWNHSR-1能抓取到手部之有效移動範圍內的物體。在機構之設計與控制上，本論文提出一套設計流程並利用Solidworks軟體設計與計算機器人的機構，利用此方式能夠快速計算出所設計機構的重量，再透過實際量測欲裝置於機器人上的零件，我們便可預估出欲製造的機器人的總重。當確實知道機器人的總重時，我們便可透過設計來確保各個自由度的馬達沒有超出工作負載，進而確保所設計的機構能做出我們所預期動作。從實體展示中可知，所設計實現的人形機器人確實可以流暢地執行所欲執行的動作。
    The mechanical structure design and motion control of a small-size humanoid robot and a home humanoid robot are proposed in this thesis. First, a small-size humanoid robot with 26 DOF (degrees of freedom) named TWNHR-4 is design and implemented. The height and weight of TWNHR-4 is 43 cm and 3.4 kg, respectively. There are 2 DOF on the head, 2 DOF on the trunk, 4 DOF on each arm, and 7 DOF on each leg. Some basic experiments of TWNHR-4 are presented to illustrate that the proposed mechanical structure lets the robot walk forward, turn, slip, stand up, weight lifting, and play basketball effectively. Then, a home humanoid robot named TWNHSR-1 with a stereo vision, two arms, and two wheels is design and implemented. The height and weight of TWNHSR-1 is 123 cm and 16.3 kg, respectively. There are 2 DOF on the head and 6 DOF on each arm. Based on the inverse kinematics of arm, the arm can be controlled to capture any object in the effective reaching region of the arm. Some basic experiments illustrate that the proposed mechanical structure lets TWNHSR-1 capture the object effectively.
    Appears in Collections:[Graduate Institute & Department of Electrical Engineering] Thesis

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