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dc.contributor.author黃龍生en_US
dc.contributor.authorHuang, Long-Shingen_US
dc.contributor.author蔡中, 邱俊誠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本論文研製之單腳跳動機器之系統分析與設計,由理論與實作上對單腳
跳動機器做有系統的分析與設計。單腳跳動機器為本身只具有一隻有彈性
的腳和身體,在身體內含電子電路、感測器、致動器等等。在腳和身體連
接的地方為像關節的連接器,使得腳可以來回擺動,在跳動中保持機器的
平衡,而在著地時不會摔倒。單腳跳動機器,有原地跳動不倒、走路、跑
步、跳躍、走樓梯、前空翻、後空翻的動作能力。在理論分析上,建立數
學模型、分析系統特性、設計控制方法、並做數值模擬。數學模型由地面
模型開始,經一維模型、二維模型、到三維模型。在實作設計上,包含軟
體、硬體與實驗。軟體部分,包含作業系統、通訊程式、控制程式、CAD
工具程式、數值模擬程式、動畫表現等的介紹及設計。硬體部分,包含電
路設計、機械結構設計、電機機械設計、電力電子電路設計、通訊電子電
路設計、系統結構設計、介面設計、感測元件設計、致動器設計、訊號傳
遞轉換設計等等。在實驗上,設計一些實驗的項目、步驟、和測試方法。
最後,討論單腳跳動機器的瓶頸所在,系統整合上的優點、缺點、可行性
,及系統整合的效率。
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單腳zh_TW
dc.subject跳動機器zh_TW
dc.subjectone legen_US
dc.subjecthopping machineen_US
dc.title單腳跳動機器之系統分析與設計zh_TW
dc.titleSystem Design and Analysis of A One-Legged Hopping Machineen_US
dc.typeThesisen_US
dc.contributor.department電子研究所zh_TW
顯示於類別:畢業論文