完整后设资料纪录
DC 栏位语言
dc.contributor.author黄龙生en_US
dc.contributor.authorHuang, Long-Shingen_US
dc.contributor.author蔡中, 邱俊诚en_US
dc.contributor.authorChun Tsai, Jin-Chern Chiouen_US
dc.date.accessioned2014-12-12T02:17:23Z-
dc.date.available2014-12-12T02:17:23Z-
dc.date.issued1996en_US
dc.identifier.urihttp://140.113.39.130/cdrfb3/record/nctu/#NT850428016en_US
dc.identifier.urihttp://hdl.handle.net/11536/61880-
dc.description.abstract本论文研制之单脚跳动机器之系统分析与设计,由理论与实作上对单脚
跳动机器做有系统的分析与设计。单脚跳动机器为本身只具有一只有弹性
的脚和身体,在身体内含电子电路、感测器、致动器等等。在脚和身体连
接的地方为像关节的连接器,使得脚可以来回摆动,在跳动中保持机器的
平衡,而在着地时不会摔倒。单脚跳动机器,有原地跳动不倒、走路、跑
步、跳跃、走楼梯、前空翻、后空翻的动作能力。在理论分析上,建立数
学模型、分析系统特性、设计控制方法、并做数值模拟。数学模型由地面
模型开始,经一维模型、二维模型、到三维模型。在实作设计上,包含软
体、硬体与实验。软体部分,包含作业系统、通讯程式、控制程式、CAD
工具程式、数值模拟程式、动画表现等的介绍及设计。硬体部分,包含电
路设计、机械结构设计、电机机械设计、电力电子电路设计、通讯电子电
路设计、系统结构设计、介面设计、感测元件设计、致动器设计、讯号传
递转换设计等等。在实验上,设计一些实验的项目、步骤、和测试方法。
最后,讨论单脚跳动机器的瓶颈所在,系统整合上的优点、缺点、可行性
,及系统整合的效率。
A procedure is on the system design and analysis of a one-
legged hopping machine. The one-legged hopping machine has
only a springy leg and body. The body includes electronic
circuit, sensor, and actuator. This one-legged hopping
machine can do hopping, walking, running, and somersault. In the
analysis, we construct mathematical model, analyze its system
behavior, designcontrol rules, and run computer simulations. In
mathematical model, we construct ground model, one
dimensional model, two dimensional model, and three
dimensional model. In the design, we include software, hardware,
and experiment. In software part, we design and descibe OS
system, communication program. In hardware part, we include
electronic circuit design, mechanical structure design, sensor
and actuator design, interface design, and system
architecture design. In experiment part, we design a method of
experiment and testing. Finally, we discuss the performance for
doing system integration and the problems in implementation.
zh_TW
dc.language.isozh_TWen_US
dc.subject单脚zh_TW
dc.subject跳动机器zh_TW
dc.subjectone legen_US
dc.subjecthopping machineen_US
dc.title单脚跳动机器之系统分析与设计zh_TW
dc.titleSystem Design and Analysis of A One-Legged Hopping Machineen_US
dc.typeThesisen_US
dc.contributor.department电子研究所zh_TW
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