連豊力臺灣大學:電機工程學研究所林平之Lin, Ping-ChihPing-ChihLin2010-07-012018-07-062010-07-012018-07-062008U0001-2707200912374500http://ntur.lib.ntu.edu.tw//handle/246246/187994蛇類可以調整它們的運動形式來克服週遭的地形和障礙物。這樣的高度適應力激發了關於機器蛇的研究，並且希望這些機器蛇能夠取代人們用於複雜且危險環境中的探索或救援。然機器蛇會被使用於未知的環境，系統的強健度和適應力就變得非常重要且值得考慮。在本論文中，模組機器人的概念將被引入在中央控制式的多連桿機器蛇之中。因此，這些傳統機器蛇上的連桿將被改進為智慧化的模組，而且這個非中央控制式的架構可以排除故障的部分或增加新的模組以達到重組的功能。研究提出的設計包含了硬體實現和重組的規劃。首先完成具有自動化連結和無線傳輸的模組實作，然後規劃了可決定單一化模組在機器蛇串列連結上的空間順序的演算法。因此，每一個模組可以知道他們在機器蛇中的位置和角色，使得機器蛇可以做出適當的運動。後，實驗結果展示了所提出的能夠分離故障模組和重組的無線模組機器蛇的可行性和強健度。Snakes can adjust their locomotion types to overcome the surrounded terrains or obstacles. This excellent adaptability of snakes motivates the researches of snake robot, and the snake robots are expected to substitute humans to explore or rescue in complicated and dangerous environments. ince the snake robots are utilized in an unknown environment, the robustness and adaptability of the system is important and considerable. In this thesis, the concept of modular robots is introduced to the centralized multi-link snake robots. Hence, the links of the traditional snake robots are evolved to the intelligent modules, and this decentralized architecture can remove broken parts and add new modules for reconfiguration. he proposed design in this research includes hardware realization and reconfiguration planning. The module with automatic connector and wireless communication is implemented first, and a reconfiguration algorithm for the uni-module is derived to decide the physical order of the modules in the sequence connection of a snake robot. Hence, each module can know the position and role under the snake robot, so that the robot can perform proper locomotion. inally, experiments are conducted and the results show the feasibility and robustness of the proposed wireless snake robot which can disconnect broken modules and can be reconfigurable.摘要 IBSTRACT IIIONTENTS VIST OF FIGURES VIIIST OF TABLES XIIIHAPTER 1 INTRODUCTION 1.1 Motivation 1.2 Problem Formulation 2.3 Contribution of the Thesis 3.4 Organization of the Thesis 4HAPTER 2 RELATED WORKS AND BACKGROUND KNOWLEDGE 7.1 Real Snakes 8.1.1 Serpentine Locomotion 8.1.2 Concertina Locomotion 9.1.3 Side-winding Locomotion 11.1.4 Rectilinear Locomotion 12.2 Snake Robots 12.2.1 Serpenoid Curve 13.2.2 Survey of Snake Robots 14.3 Modular Robots 17.3.1 Motivation 18.3.2 Classification 18.3.3 Connector Mechanisms 19.3.4 Survey of Modular Robots 20.4 Discussion 26HAPTER 3 HARDWARE REALIZATION OF WIRELESS MODULAR SNAKE ROBOT 27.1 Design Concepts 28.2 System Framework 29.3 Module Design 31.3.1 Main Body 32.3.2 Connector 33.4 Electronic Design 35.4.1 Microcontroller 35.4.2 Wireless Communication 37.4.3 Motion Actuator 40.4.4 Connection Actuator 42.4.5 System Board 45.5 Summary 46HAPTER 4 RECONFIGURATION PLANNING 49.1 Optimal Serpenoid Locomotion 50.2 Proposed Method 51.2.1 Communication ID 52.2.2 Physical Order 55.2.3 Online Checking 59.2.4 Reconfiguration 62.2.5 Summary 64.3 Discussion 65HAPTER 5 EXPERIMENTS 69.1 Experimental Setup 69.1.1 Graphic User Interface 70.1.2 Transmission Package 72.1.3 Hardware Setup 75.2 Experimental Results 76.2.1 Serpenoid Locomotion 77.2.2 Automatic Connection 78.2.3 Case I of Reconfiguration 80.2.4 Case II of Reconfiguration 83.3 Discussion 85HAPTER 6 CONCLUSION AND FUTURE WORK 87.1 Conclusion 87.2 Future Work 88PPENDIX 89.1 Specifications 89.1.1 PIC18F4580 89.1.2 AI MOTOR-1001 91.2 PCB Layout 93EFERENCES 973057592 bytesapplication/pdfen-US蛇型機器人模組機器人機器人重組無線傳輸Snake robotmodular robotrobot reconfigurationwireless communicationthesishttp://ntur.lib.ntu.edu.tw/bitstream/246246/187994/1/ntu-97-R96921042-1.pdf