顏家鈺Yen, Jia-Yush臺灣大學:機械工程學研究所陸嘉德Chen, Tito Lu TangTito Lu TangChen2010-06-302018-06-282010-06-302018-06-282008U0001-1607200813220900http://ntur.lib.ntu.edu.tw//handle/246246/187376本論文探討仿生機器蛇的機構設計以及蛇行運動的原理來建構一個八模組的機器蛇。蛇是一種很奇妙的動物，沒有人能完全確定蛇是如何運動。他們的運動模式和其他昆蟲不同之處在於他們利用自己的身體去產生一個前進的力量。許多學者對於蛇的運動模式研究以及仿生機器蛇的開發都很感興趣。蛇能夠鑽進人們無法到達的地方，在災難救援時能發揮很大的作用，這種特性更加引起對製造仿生機器蛇的興趣。報告探討，本機構利用伺服馬達作為致動器以產生所需的高扭力。我們使用微處理器 PIC18F4580做為控制器在此機構上實現了蛇行運動的曲率控制。除了介紹控制器及其功能之外，我們並設計了一個讓機器蛇能夠透過應變規的感測來和環境互動的機制。最後對實驗結果進行探討。The following thesis presents and makes a study of the snake motion. Snakes are very special creatures. They differ from other animals in such a way that they don’t use legs to move forward and their motion is very peculiar, creating great interest in many scientists in creating robots like them. he dynamics of snake motion, called “serpenoid motion”, are to be studied and discussed. Curvature is used to control each of the servo motors on the snake in order to achieve the serpenoid motion of the robot. The robot is controlled with a microcontroller, PIC18F4580, in order to accomplish such motion. The usage of CAN BUS interface is developed between the controllers to achieve communication between all modules. The implementation of CAN BUS is presented and discussed. system of sensors is applied in order to understand the current position and condition in which our robot is and using the given data, a method is developed so that the robot can know its current condition and create a data collection system.Table of Contents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 viist of Figures viiiist of Tables xihapter 1 Introduction 1.1 Preface 1.2 Research Motivation 1.3 Research Purpose 2.4 Prior Art (Paper Survey) 3.5 Thesis Work and Contribution 14hapter 2 Mechanism of Snake-like Robot and Principle of Serpenoid Motion 15.1 Early actuating-mechanisms ideas 15.2 Design of Snake-like Robot 19.2.1 Version 1 20.2.2 Version2 27.3 Principle of Motion in Snakes 29.3.1 Different types of snake motion 30.4 Serpenoid Motion 33.4.1 Theory 33.4.2 Mathematical Representation 35.4.3 Implementation of Curvature control 38hapter 3 Mechanism, Actuator, Controller and Sensor 43.1 Mechanism Design 43.1.1 Mechanism design 43.1.2 GWS Micro 2BBMG Servo Motor 48.2 Controller 56.2.1 Introduction to PIC18F4580 56.2.2 Introduction to MPLAB IDE, ICD2, PICKit2, APP001 Rev.2 62.2.3 CAN-BUS 69.2.3.1 Communication between modules 76.2.4 Printed Circuit Board (Controller Board) 77.2.5 Control Procedure 79.3 Strain Gauge Sensor 79.3.1 Introduction to Strain Gauge 79.3.2 Wheatstone Bridge and Amplifier 82hapter 4 Simulation and Experimental Results 87.1 Simulation 87.1.1 Matlab + Working Model Simulation Setup 87.1.2 Results 92.2 Real Model Experiments 97.2.1 Setup 97.2.2 Strain Gauge calibration 100.2.3 Results 101.2.4 Gait Control 109.2.5 Discussion 113hapter 5 Conclusions and Future Work 115.1 Conclusions 115.2 Future Work 116eferences 1175158342 bytesapplication/pdfen-US機器蛇伺服馬達蛇行運動Snake robotservo motorserpentine motionthesishttp://ntur.lib.ntu.edu.tw/bitstream/246246/187376/1/ntu-97-R95522809-1.pdf