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• Main Authors: Ben-Huei Liao, 廖本煇
• Other Authors: none
• Format: Others
• Language: zh-TW
• Published: 2005
• Online Access: http://ndltd.ncl.edu.tw/handle/58368191616454443856

碩士 === 國立中央大學 === 機械工程研究所 === 93 === The main purpose of this thesis is to analyze the ability of a biped robot to track preset routes. The simulation was completed by combining several computer packages. Those computer packages include MATLAB、PRO-ENGINEER and MSC VISUAL NASTRAN 4D. Among complicated robot behaviors, lower-limb was preset, and upper-limb was designed as a single concentrated mass. The upper-limb was designed to offer compensation for a stable walking. The governing differential equations were derived based on kinematics and dynamic equilibrium considerations. During the simulation, the equilibrium position of the lower-limb positions were calculated first, then utilizing MSC VISUAL NASTRAN 4D and MATLAB to calculate upper-limb equilibrium position. This procedure was repeated when the robot motion proceed. Each link of the biped robot was drawn by Pro-Engineer and then loaded in MSC VISUAL NASTRAN 4D to serve as simulation parameters. Gait analysis includes walking in the straight line, circling 180° at specific point, S-path, changing velocity, right angle turn and climb-down stairs. With different walking modes, different motor rotation angles, foot and waist paths were obtained. The simulation could provide useful design data when design and construction a hardware biped robot.