Development of a Snake Robot with Flexible Connectors and its Optimal Velocity Planning
Date Issued
2004
Date
2004
Author(s)
Lin, Yen-Cheng
DOI
zh-TW
Abstract
本研究發展一套以彈性體為連結之機器蛇，並在路徑、機構與動力限制下發展一套最佳化速度規劃模式。整條機器蛇包含五個模組，模組間以彈性體為連結，每個模組均由兩顆步進馬達所驅動，並由模組上之微控制器以差速方式控制其方向與速度。以彈性體連結可使機器蛇的行動蜿蜒柔軟，更為逼真似蛇。綜合考量徑向伸縮及側向彎曲時之彈性恢復力及力矩對機器蛇行進時所造成之影響，在路徑、機構與動力限制下本研究提出最佳速度規劃方法，可使機器蛇在無失步、無滑動的情形下，於最短時間內循規劃之路徑抵達目的地。
In this research, a snake-like robot with flexible connectors is developed, and an optimal velocity planning approach is investigated under the constraints of path, kinematics and dynamics of the robot. The snake-like robot includes five modules which are connected by flexible connectors; each module is driven by two stepping motors and is controlled in differential way for its direction and speed by micro-controllers. Flexible connection makes the motion of the robot smoother and more snake-like. However, the elastic restoring force and torque due to longitudinal extension (or compression) and lateral bending of springs may affect the behavior of the snake-like robot during moving. The snake-like robot will be out of control unless proper planning. The snake-like robot is capable of following the planned path and arriving at the destination in minimum time without sliding or losing steps, if the optimal velocity planned by the study is applied.
Subjects
速度規劃
機器人
路徑
步進馬達
彈性體
蛇
Path
Snake
Stepping motor
Robot
Velocity planning
Flexible connector
Type
thesis
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