Optimal Dimension Design and Mobile-Phone Bluetooth Control Development of a Legged Wheel Robot

• Main Authors: Shu-Ying Wu, 吳書穎
• Other Authors: Rong-Fong Fung
• Format: Others
• Language: en_US
• Published: 2009
• Online Access: http://ndltd.ncl.edu.tw/handle/83912120959273337053

碩士 === 國立高雄第一科技大學 === 光電工程研究所 === 97 === This paper is devoted in optimal dimension design of a deer-type legged wheel robot. Its main body size is 200×150×100 mm, and the walking machine with two auxiliary wheels is composed of 8-link mechanism and 10 revolute joints. The purpose of this paper is to design such a walking machine with an ideal foot trajectory and good kinematic performance. First, the vector loop approach is used to obtain the foot trajectory and the position displacement of the legs. Then, the equations of displacement are formulated. The optimal dimensions for each leg mechanism are obtained based on Taguchi and real-coded genetic algorithm (RGA) methods with confirming to compare with the ideal foot trajectory of the walking machine. Finally, the computer simulation software MSC is developed and a prototype robot is built. The comparison results show that the designed walking machine dose achieve the required motion characteristics. Furthermore, in the wisdom controller design, we use 8051 microprocessor chip as computer center to control the robot, and write the C cord to cooperate with the ultrasonic sensor. The robot has wisdom controller of distance recognition and Bluetooth wireless control. Besides, we can control the robot through mobile-phone by using the master remote control function. The legged wheel mobile robot has the intelligent advantages of advancing, back-turning, left-turning, right-turning, and barrier-avoiding.