| Summary: | 碩士 === 國立成功大學 === 機械工程研究所 === 83 === The purpose of this work is to study the kinematic performance
of Wang-Chien''s "Wooden Oxen and Gliding Horse" created based
on his hand-on experiences, and to achieve an improve design.
Historical literatures and discussions on "Wooden Oxen and
Gliding Horse" are studied first. Then, the gait of oxen in
different velocities is investigated by field observation and
data search. The type of gait of an ox can be classified as
walk, trot, or gallop based on different velocities. And, the
time-ratio of the supporting period to the overall period for
every gait becomes small with increasing velocities. The gait
of Wang-Chien''s "Wooden Oxen and Gliding Horse" is of the same-
gait and single-side type. This is not real for living oxen and
the reason behind might be for the purpose of matching
historical descriptions in literatures. The result of kinematic
analysis shows that Wang-Chien''s design has poor performances
in both striding ability and touch down impact. Optimal design
of link dimensions is carried out, based on Taguchi method,
toachieve the objective function of raising striding ability
and reducing touch down impact. Several data sets are obtained
which double the performance of Wang-Chien''s design. The
minimum number of layers is concluded as four for the layer
arrangement of Wang-Chien''s "Wooden Oxen and Gliding Horse" ,
and this is the same as Wang-Chien''s design which was done
based on his experiences.
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