Simulation and Analysis of Transversely Moving on Bionic Quadruped Robots
碩士 === 國立雲林科技大學 === 機械工程系 === 104 === The research focuses on studying the trajectory of transversely moving generated by parallel type double Stephenson Ⅲ six-bar to fit as serial type tour links that can do transversely moving. First study the motion and gait behavior by transversely moving mechan...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2016
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| Online Access: | http://ndltd.ncl.edu.tw/handle/63658380205844225782 |
| Summary: | 碩士 === 國立雲林科技大學 === 機械工程系 === 104 === The research focuses on studying the trajectory of transversely moving generated by parallel type double Stephenson Ⅲ six-bar to fit as serial type tour links that can do transversely moving. First study the motion and gait behavior by transversely moving mechanism to identify the supporting state and condition that can make the mechanism transversely moving. Giving link length and input angle on double Stephenson Ⅲ six-bar to get the position of trajectory in transversely moving from forward kinematics. Next using position of trajectory in transversely moving to obtain the rotation angle on serial four links mechanism from inverse kinematics. Then study the bionic quadruped robots on straight and turning moving. Finally, using computer software ADAMS to verify that bionic quadruped robots is superior to double Stephenson Ⅲ six-bar, and compare the fifth wheel with Ackermann steering turning.
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