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系統識別號 U0026-2708201315413000
論文名稱(中文) 具複接頭八連桿型機器馬之機構設計
論文名稱(英文) On the Mechanism Design of 8-bar Linkage Walking Horses with Multiple Joints
校院名稱 成功大學
系所名稱(中) 機械工程學系碩博士班
系所名稱(英) Department of Mechanical Engineering
學年度 101
學期 2
出版年 102
研究生(中文) 林冠宇
研究生(英文) Kuan-Yu Lin
學號 N16004488
學位類別 碩士
語文別 英文
論文頁數 101頁
口試委員 指導教授-顏鴻森
口試委員-蔡明俊
口試委員-藍兆杰
中文關鍵字 木車馬  步行機器  八連桿機構  複接頭  最佳設計 
英文關鍵字 wooden horse carriage  walking machine  8-link mechanism  multiple joints  optimal design 
學科別分類
中文摘要 英國型機器馬,是由四組構造相同的腿部機構構成的步行機器以及作為平衡用的拖車所組成,其單一腿部機構為八桿十接頭、單一自由度並具有複接頭的連桿組。本研究首先將此設計利用向量迴路法進行運動分析,求得足部軌跡曲線及其運動特性,並建立推力分析的數學模式。接著,利用顏氏創意性機構設計方法,系統化的合成出150種八連桿特殊化運動鏈;並利用所建立的評估標準,找到14種可行的機構。其後,挑選出一組機構,利用最佳化方法,結合傳動性能、仿生能力、及基本限制三方面的限制條件,合成出具有1.73 牛頓最小推力具複接頭的八連桿機器馬。與王氏、邱氏、黃氏、沈氏、及英國型木車馬做運動性能分析比較的結果顯示,本研究所設計出的具複接頭八連桿型機器馬,在推力方面有相當不錯的表現。另外,由電腦動畫模擬,利用Solidworks 建立3D模型,並製作實體模型,證明本設計能達到運動要求。
英文摘要 The England kinetic horse consists of a walking machine with four identical leg mechanisms and a carriage for balancing. Each leg is an 8-bar linkage with multiple joints and with one degree-of-freedom. By analyzing this design, the foot trajectory and its motion characteristics are obtained by kinematic analysis according to vector loop approach. Furthermore, the equations of static forces are formulated. Then, based on the modified Yan’s creative mechanism design methodology, 150 8-bar leg mechanisms with multiple joints are synthesized systematically, and 14 feasible mechanisms are identified according to the concluded evaluation criteria. One mechanism is chosen for dimension synthesis. An optimization method is applied to find optimum leg dimensions with minimum input force, which is 1.73 N, subject to the limited influence of the other gait characteristics including transmission, simulation, and dimensions. Furthermore, the kinematic performances of Wang type, Chiu type, Hwang type, Shen type, and England type kinetic horses are evaluated and compared. The result shows that the designed 8-link kinetic horse with multiple joints has better characteristics in input force. Furthermore, the built 3D model by Solisworks and physical model prove that this 8-link walking horse is feasible.
論文目次 摘要 I
Abstract II
Acknowledgement III
Contents V
List of Figures VIII
List of Tables X
Chapter 1 Introduction 1
1.1 Motivations 1
1.2 Objectives 2
1.3 Literature Reviews 2
1.4 Thesis Organization 6
Chapter 2 An Existing Design 8
2.1 Structure Analysis 9
2.2 Position Analysis 11
2.3 Gait Analysis 16
2.3.1 Path of the gait 16
2.3.2 Sequence of the supporting leg 17
2.3.3 Stride and stroke 22
2.4 Force Analysis 24
2.5 Summary 29
Chapter 3 Conceptual Design 30
3.1 Procedure of Structural Synthesis 30
3.2 Generalization 31
3.3 Number Synthesis 32
3.4 Design Requirements and Constraints 33
3.5 Specialization 36
3.6 Particularization 37
3.7 Particular Identities 40
3.8 Summary 45
Chapter 4 Optimal Design 46
4.1 Design Parameters and Initial Dimensions 46
4.2 Design Objective 48
4.3 Design Constraints 48
4.4 Optimum Design 50
4.5 Performance Comparison 53
4.6 Summary 54
Chapter 5 Prototyping 55
5.1 Computer Simulation 55
5.2 Layer Arrangement 56
5.3 3D Model 58
5.4 Prototype 59
Chapter 6 Conclusions and Suggestions 61
6.1 Conclusions 61
6.2 Suggestions 62
References 64
Appendix Atlases of Specialized Chains and Designs (344) 68
COPYRIGHT STATEMENT (作者權聲明) 101
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