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    Please use this identifier to cite or link to this item: http://ccur.lib.ccu.edu.tw/handle/A095B0000Q/418


    Title: 運用充氣結構形變原理實作球形機器人;Implementation of a mobile spherical robot with shape-changed inflatable structures.
    Authors: 何冠逸;Ho, Kuan-Yi
    Contributors: 電機工程研究所
    Keywords: 氣動機器人;自動化機器人;球型機器人;Pneumatic Robot;Autonomous Robot,;Spherical Robot
    Date: 2017
    Issue Date: 2019-07-17
    Publisher: 電機工程研究所
    Abstract: 我們嘗試建構一個大型的機器人(約2米高),其外型為一個球體。該球型機器人可以藉由改變本身的形狀控制其運動。球型機器人的表面是由數個彈性表面結構組成,和內側的氣動系統來控制每個部份的空氣壓力。當機器人靜止時,朝向地面的彈性表面結構將有比較小的空氣壓力,使得其結構中間產生凹陷,藉此使機器人保持靜止。當機器人開始移動,原本朝向地面的部分充氣,而將要朝向地面的部分洩氣,則機器人傾斜朝向下一節並且移動到特定的方向。由於其設計柔軟且重量輕,因此,讓他們在放置在戶外將會很安全。這樣的機器人可以用於室外的監控及各種交通指引或警示。作為這個研究主題的開端,我們實作一個尺寸較小的模型,並針對這樣的運動方式進行一些研究及討論。
    We are currently building a big robot (ca. 2m height) that has the shape of a sphere. The robot can be controlled by transforming its shape and thus can move. The structure of the spherical robot has several inflatable sections around the sphere and a pneumatic system inside to control the air pressure of each section. In the static state, the section towards the ground is deflated. Thus, the robot stays at the same position. When the robot shall move forward, the above-mentioned section is inflated while the neighboring section towards the intended direction is deflated. In this way, the robot rolls towards the next section and moves to the particular direction. Due to their design, the robots are very fluffy and light-weighted. Thus, using them in human environment appears to be very safe in spite of their size. So the robot can be used for outdoor surveillance. In parks and also road-works in order to warn traffic. As a beginning to this topic, we implement a model of smaller size.
    Appears in Collections:[電機工程研究所] 學位論文

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