| Summary: | 碩士 === 國立臺灣大學 === 機械工程學研究所 === 105 === This thesis presents the development and characterization of a two-wheeled self-balancing jumping robot, which features advantages such as small footprint and zero turning radius. The two-wheeled self-balancing robot, which is integrated with a jumping mechanism, is capable of leaping over obstacles and exhibits excellent maneuverability.
The proposed robot consists of two mechanical structures: the jumping mechanism and the balancing-translation system. The jumping mechanism mainly consists of a cylindrical cam, a spring, and a latch. As a DC motor drives the cam, the spring is compressed and stores elastic energy. As the spring is released, the stored elastic energy is converted into kinetic energy which makes the robot jump upward impulsively. The balancing-translation system consists of an inertial measurement unit (IMU) and two DC motors with encoders. To keep the robot balanced, the controller estimates the output of the motors with LQR method by applying the attitude data measured by the sensors. Translational motions of the robot are achieved by changing the target angle which makes the robot move to keep balanced.
In order to design a proper mechanism which can accomplish the capabilities of self-balancing and jumping, analytical models of jumping mechanism and self-balancing control are derived. In addition, the dynamic system is also modeled for the controller design. In this thesis, the performance of self-balancing motions, translational motions, and jumping features are measured and discussed. The proposed self-balancing jumping robot possesses the abilities to overcome obstacles and travel through rough terrains.
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