Analysis and Synthesis of a Walking Mechanismwith Two DOFAnalysis and Synthesis of a Walking Mechanismwith Two DOFAnalysis and Synthesis of a Walking Mechanismwith Two DOFAnalysis and Synthesis of a Walking Mechanism with Two DOF

• Main Authors: YU Hung-Yi, 余泓宜
• Other Authors: Chang Chi-Feng
• Format: Others
• Language: zh-TW
• Published: 2007
• Online Access: http://ndltd.ncl.edu.tw/handle/54053247211331825490

碩士 === 國立高雄應用科技大學 === 機械與精密工程研究所 === 95 === The main purpose of this study is to synthesize the leg mechanisms, which are suitable for walking machines and can be easily controlled for generating desired motions. Firstly, investigations and evaluations are made for existing mechanisms. A two DOF seven-link mechanism with all revolute joints is then chosen to function as the desired leg mechanism, because it might be synthesized to meet with all the requirements. For the kinematic analysis of the mechanism, a geometrical method followed with the loop-closure method is proposed for determining its kinematic properties. The explicit equations, that are necessary for determining the internal joint forces and external driving forces, are also derived and formulated in matrix form. These kinematic properties and the forces are useful for evaluating the performances of the synthesized mechanisms. An optimization method is proposed herein for synthesizing those mechanisms, the objective function consists of position errors at precision points of couple point and average mechanical advantage. The constraints for obtaining feasible mechanisms are also proposed for the optimization. Then, the Taguchi method are used to performing the sentivity analysis of the design variables for optimization. The index of the sentivity analysis is the position errors at precision points and mechanical advantage. Therefore, the contributions or the influences of the design variables to the index are found. The results of the analysis could be used to reduce the design variables for optimization, and it is also useful for the tolerance design of the links since the design variables are indeed link parameters. Finally, two mechanisms are synthesized with and without reducing design variables, respectively, are also compare.