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    Please use this identifier to cite or link to this item: http://ccur.lib.ccu.edu.tw/handle/A095B0000Q/350


    Title: 運用飛輪實作主動平衡機器人;Development of an Active Balancing Robot with Reaction Wheels
    Authors: 李秉恩;Li, Bing-En
    Contributors: 電機工程研究所
    Keywords: 飛輪平衡;力矩平衡;機器人平衡;主動平衡;Active Balancing;Wheel Balancing;Torque Balancing;Robot Balancing
    Date: 2017
    Issue Date: 2019-07-17
    Publisher: 電機工程研究所
    Abstract: 本論文將透過在機器上置入飛輪,經由控制飛輪的轉動產生力矩來產生反作用力達到平衡。首先將著重於硬體架構的設計,從天寶導航的SketchUp軟體開始製作,繪製3D模擬圖;接著透過MakerBot出產的Replicator 3D印表機來產生塑膠材質的模型;最後將處理器、感測器、DAC、無刷馬達及驅動器買齊,與工廠製作出的鋁合金材質飛輪一起安裝後,完成硬體方面的架設。接著再經由撰寫程式碼,透過實作來驗證理論的可行性。
    The purpose of this master thesis is in order to design a robot by installing two wheels and controlling the rotation of the wheels which produce torque. I focus on the hardware design at first with producing my 3D plan with SketchUp from Trimble Navigation and then produce the prototype in plastic with a 3D printer, “Replicator”, from MakerBot Industries. At last, I put a processor, a sensor, two DACs, two brushless motors with drivers, and two aluminum wheels on the robot to finish the hardware part. After that, we verify our theory by software.
    Appears in Collections:[電機工程研究所] 學位論文

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