顏家鈺Yen, Jia-Yush臺灣大學:機械工程學研究所陳思龍Chen, Sz-LungSz-LungChen2010-06-302018-06-282010-06-302018-06-282009U0001-0607200911295000http://ntur.lib.ntu.edu.tw//handle/246246/187107In this thesis, which is based on the understanding of snake motion especially inerpenoid motion and the design of the snake-like robot, the defects in previousechanism designs are eliminated and an external Bluetooth wireless moduleommunication system is added, which allows the robot to change gait parametersnline. In a series of strain gauge experiments, there is nothing that matches the results inhe original thoughts of using this kind of sensor to determine the robot’s direction. Thenly understanding is the relation between surface roughness and the value of the strainauge. Further experiments carried out using different kinds of motion and posturesade the previous results more reasonable. A gait control using results from differentinds of turning motion is established and strain gauge values obtained can be used toompensate mechanism defects during straight line motion. Further, from the idea ofadars, a photo resistor is attached on the first motor of the robot and keeps scanning theuminance of the environment, so that the robot can eventually track and reach the lightource with the same turning motion. To improve the disadvantages of this kind of turning motion and to solve the deadpace problem caused by using only one photo resistor, a brand new way of turningnspired by a game in Nokia cell phone is established; through a mathematicalepresentation, experiments are carried out and the radius of turn is successfully reducedompared to using traditional serpenoid motion, and this motion allows all the moduleso perform a turn on a fixed point. In this way, with the help of more photo resistors or aebcam, the tracking or motion planning of the robot can be realized.口試委員會審定書（中文） .................................................................................................... I試委員會審定書（英文） ................................................................................................... II謝 ......................................................................................................................................... III文摘要 ................................................................................................................................ IVbstract .................................................................................................................................... Vable of Contents ................................................................................................................... VIIist of Figures ......................................................................................................................... IXist of Tables ......................................................................................................................... XIIIhapter 1 Introduction .......................................................................................................... 1.1 Preface .............................................................................................................. 1.2 Research Motivation ........................................................................................ 1.3 Research Purpose ............................................................................................. 2.4 Prior Art (Paper Survey) [2] ............................................................................. 3.5 Thesis Work and Contribution ....................................................................... 11hapter 2 Principle of Serpenoid Motion and Mechanism of Snake-like Robot ............... 13.1 Principle of Motion in Snakes ........................................................................ 13.2 Serpenoid Motion ........................................................................................... 14.2.1 Theory [2] .................................................................................................. 14.2.2 Mathematical Representation .................................................................... 16.2.3 Turning ...................................................................................................... 18.3 Design of Snake-like Robot ........................................................................... 22hapter 3 Mechanism, Actuator, Controller, and Sensor .................................................... 25.1 Mechanism Design ......................................................................................... 25III.1.1 Version 1 .................................................................................................... 25.1.2 Version 2 .................................................................................................... 28.2 Controller ....................................................................................................... 32.2.1 PWM .......................................................................................................... 32.2.2 Printed Circuit Board (Controller Board) .................................................. 34.2.3 Bluetooth wireless module ......................................................................... 35.3 Strain Gauge Sensor ....................................................................................... 39.3.1 Strain Gauge and Amplifier ....................................................................... 39.4 Photo resistor Sensor ...................................................................................... 43.4.1 Introduction to Photo resistor .................................................................... 43hapter 4 Experimental Results .......................................................................................... 45.1 Setup............................................................................................................... 45.2 Strain Gauge Experiment ............................................................................... 46.2.1 Strain Gauge Calibration [2] ...................................................................... 47.2.2 Results........................................................................................................ 48.2.3 Gait Control (Friction Feedback Straight Motion) .................................... 59.3 Photo-resistor Experiment .............................................................................. 65.3.1 Photo Resistor Calibration ......................................................................... 66.3.2 Light Source tracking control .................................................................... 67.4 Motions .......................................................................................................... 71.4.1 Stationary Turning Motion ........................................................................ 72hapter 5 Conclusions and Future Work ............................................................................ 81.1 Conclusions .................................................................................................... 81.2 Future Work ................................................................................................... 82eferences ............................................................................................................................... 854229408 bytesapplication/pdfen-US機器蛇轉彎感測器snake robotturning motionsensorsthesishttp://ntur.lib.ntu.edu.tw/bitstream/246246/187107/1/ntu-98-R96522814-1.pdf