The Sampling and User Interface Design of Robot Locomotion Inside a Pipe
| Autor: | Yu-Ru Wu, 吳宥儒 |
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| Rok vydání: | 2015 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 104 Based on the requirements such as small size, multi-degree of freedom, light, simple, reliable, cheap and easy to install and maintain, we develop a small snake robot to simulate the motion of snakes. The robot is made up of several motors and able to complete various movements in specific connection ways. The structure of snake body enable it to move smoothly in narrow space such as pipes with high stability and reliability. To verify the effectiveness by executing cycle locomotions of snake-like robot, we have a discussion about the design of the robot’s arthrosis mechanism and the movement principle are also discuss in this paper. In this thesis, we require the snake-like robot to achieve some main features：designing snake-like robot’s locomotions, using the swing between robot’s arthrosis and the friction force between the inner tube to move forward, using human–machine interface to monitor and control the snake-like robot. We install the camera module, LED lighting and gas sensor for the inner pipe''s exploration. In this research, we successfully demonstrate snake-like robot’s locomotions and achieve exploration mission in the pipeline. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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