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    Please use this identifier to cite or link to this item: http://ir.lib.ksu.edu.tw/handle/987654321/8616


    Title: 機器人頭顱機構與非傳統超音波馬達之低功率電力實驗
    Low-Power Experiments of Non-traditional USM Skull Mechanism
    Authors: 陳聖(Sheng Chen)
    汪清國(Ching-KuoWang)
    Keywords: 人形機器人
    超音波馬達
    行進波
    人工義眼
    Humanoid Robot
    Traveling Wave
    Prosthetic Eyeballs
    Ultrasonic Motors
    Date: 2008-09-05
    Issue Date: 2010-02-23 09:31:59 (UTC+8)
    Abstract: 劇性情境變化。然而人形機器人之面部機構的有限空間限
    制與直流馬達的本身重荷,往往造成機器人面部機構在使用
    傳統RC 伺服馬達或步進馬達設計驅動器的困擾,由於低功
    率的超音波馬達具有停動轉矩、低雜訊干擾及低噪音、輕量、
    小尺寸、高轉矩之特性,使得上述的設計困擾得到較佳驅動
    器的選擇方向。因此,本文致力於發展具有上述優點的非傳
    統超音波馬達,取代目前常用的傳統RC 伺服馬達,做為人
    形機器人工義眼、眼皮…等面部情緒元件機電設計之驅動馬
    達。本文也將討論各種驅動超音波馬達行進波的波動方程
    式,文末將進行電腦模擬與迷你超音波馬達之低功率實驗,
    以確認本文提出的非傳統創新驅動器方案之正確性與優越
    性。
    Delicate variations of the facial emotions can dramatically
    spiritualize the humanoid robot with passionate scenarios.
    However, limited skull space and heavy-weight of the DC
    motors prevent the possibilities of adopting traditional
    servomotors or stepping motors as the actuators of the facial
    mechanisms. The low-speed, light-weight, small-size,
    high-torque, and the inherent stall-torque performances of the
    low-power ultrasonic motor (USM) make it better choice in the
    mechatronic design of the facial dynamics. This paper is
    dedicated to develop animated facial mechanisms of prosthetic
    eyeballs and eyelids driven by the non-traditional USM instead
    of the traditional RC-servomotors. Ultrasonic theory of the wave
    equation on the different the traveling wave will be discussed to
    drive the USM loading with appropriate power and frequency.
    Simulations and the experiments of the facial dynamics with the
    mini-size USM on the neural network are carefully examined
    and successfully justified the advantages of the proposed
    innovation.
    Appears in Collections:[電機工程系所 ] 2008第七屆台灣電力電子研討會暨展覽會

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