| Summary: | 碩士 === 國立成功大學 === 機械工程學系碩博士班 === 101 === 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.
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