Mechanical and System Design of Egg Shape Robot
碩士 === 國立中正大學 === 電機工程研究所 === 104 === The target of this project was to build a small robot (ca. 50 cm height) that has the shape of an egg or ellipsoid. The robot has no actuator that interacts with the external environment directly. Instead it is actuated by a heavy fast rotating gyro (flywheel, s...
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| Format: | Others |
| Language: | en_US |
| Published: |
2016
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| Online Access: | http://ndltd.ncl.edu.tw/handle/41026685797411160268 |
| Summary: | 碩士 === 國立中正大學 === 電機工程研究所 === 104 === The target of this project was to build a small robot (ca. 50 cm height) that has the shape of an egg or ellipsoid. The robot has no actuator that interacts with the external environment directly. Instead it is actuated by a heavy fast rotating gyro (flywheel, symmetric rotor) in a hollow sphere which is located in the center of the robot. The outer structure of the robot and the gyro are connected with a gimbal, which is a similar structure as a control moment gyroscope in a spacecraft. The orientation of the axis of the gyro can be controlled by actuated the joints of the gimbal with servo motors. Since the moment of inertia of the fast rotating gyro is large, the outer structure moves as a result of the inertia principle.
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