Power Management of the Bionomic Robot on the Caterpillar Platform

• Main Authors: CHANG, CHUNG-CHUAN, 張烱川
• Other Authors: WANG, CHING-KUO
• Format: Others
• Language: zh-TW
• Published: 2018
• Online Access: http://ndltd.ncl.edu.tw/handle/383xyq

碩士 === 華夏科技大學 === 智慧型機器人研究所 === 106 === The cruise range of the moving platform for the intelligent robot is obviously affected by the load effects of the robot weight, lithium battery, and discharge instability ... etc. The self-fabricated bionic robot palm; and the navigation of the caterpillar platform with versatile purposes will face the similar problems on their ways to move around the campus, such as shortage of cruising range, robot design bottleneck…etc. The thesis is dedicated to develop an intelligent power management theory with a set of multi-purpose algorithm, which may support a group of lightweight, durable, reliable and inexpensive lithium battery. In other words, the research will derive an algorithm of intelligent power management module for the self-fabricated moving platform of the robot arm by, Intelligent Robot Institute, R&D Center of Robotics and Bioengineering of Hwa Hsia University of Technology, Taipower Co., Ltd., and Dien-Hui Technology Co., Ltd. In addition, the mechatronic design of the proposed robotic system is driven by robot arms, dexterous palms powered with a set of LiFePO4 (lithium iron phosphate battery) and super capacitor with surge current. Similar development of the systematic technology is also applied to electric vehicles, battery management related research. The highlights of the power management will include robot power scheduling, load estimation and analysis of electric power, instant measurement of residual electricity (Gas Gauge), discharging balance, GUI-based battery protection ... etc. Finally, this paper has arranged the system with PC-based IEEE-SMBus transmission protocol. The computer simulation and the experiment of power discharge have successfully been made to assure cruising range of the caterpillar platform with dexterous robot palm.