運用飛輪實作主動平衡機器人;Development of an Active Balancing Robot with Reaction Wheels

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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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