Design of a Single Degree of Freedom Six-Link Walking Mechanism

• Main Authors: Wei-you Lai, 賴威佑
• Other Authors: Li-Chun Wang
• Format: Others
• Language: zh-TW
• Published: 2007
• Online Access: http://ndltd.ncl.edu.tw/handle/387c4d

碩士 === 國立臺灣科技大學 === 機械工程系 === 95 === This thesis deals with the kinematic design of a single degree of freedom six-link walking mechanism. The desired motion trajectory of the foot is obtained from video recording of human gait. Based on inverse kinematics analysis and numerical nonlinear optimization techniques, a four bar linkage is first synthesized such that it would generate a coupler curve which is close to the desired trajectory. On the basis of this linkage and the concept of coupler cognate mechanisms, an analytical procedure is developed for synthesizing the six-link walking mechanism. In which the leg is designated to the link which produces parallel motion. A scale model based on the synthesized dimensions is made to verify the proposed design.