Improved Design and Motion Control of a Transverse Ricochetal Brachiation Robot
| Autor: | Zong-Han Yang, 楊宗翰 |
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| Rok vydání: | 2018 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 106 Transverse ricochetal brachiation is a unique locomotion style that mimics the sport players to swing their bodies with hands held on the ledges on the wall and then release their hands to fly and grab the targeted ledge. This thesis aims to present the development and motion control of second and third generation of transverse ricochetal brachiation robots (TRBR). For the mechanism part, the design parameters are obtained by formulating an optimization method with the goal of reaching maximum flying distance. A variable stiffness design equipped with electromagnets is applied to implement the mechanical resonance excitation by solely swinging the designed tail during swing phase and enable tight arm-and-body engagement during flying phase. Particularly, the electrically driven anthropomorphic grippers are designed to satisfy the required holding forces and quick-releasing functionality so that the kinetic energy accumulated during swing phase can be smoothly transferred to the flying phase for desired locomotive behaviors. The reference trajectory of the robot tail for resonance excitation is obtained through an optimization method based on the dynamic model during swing phase. The dynamic model during flying phase is derived to elucidate the effects of midair body rotation and applied to develop various kinds of body posture compensation methods for deeper investigation. Simulation and experiments demonstrate that the proposed body posture compensation method based on the successive loop closure design can effectively improve the flying posture and traveled distance. Moreover, the proper integration of arm swing motion strategy can achieve the largest flying distance and highest success rate of robot landing. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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