| Summary: | 碩士 === 國立臺北科技大學 === 機械工程系機電整合碩士班 === 106 === This thesis presents a crawling mechanism design for a scorpion, which uses linkages to simulates the actual leg movement of the scorpion videoed in this study. In order to reduce the complexity of controlling, this design uses a 6-bar-7-joint-1-DOF linkage for each leg mechanism. To reduce the weight of whole bionic robot, this design uses only one servo motor to drive the four legs mechanism of each side.
Firstly, the crawling motions of the scorpion’s femur, tibia, and tarsus are videoed and tracked by using Photoshop software. The precise positions of femur, tibia, and tarsus of each leg were chosen from the corresponding points in the three path-curves. These precision positions are used to synthesize the dimensions of the required linkages. It then uses the constrained-dimension function provided by SolidWorks Software to synthesize the corresponding linkage’s dimensions, and the analytical synthesis method is also applied to verify those dimensions obtained from the SolidWorks software. The kinematic simulation is also performed via the Motion function provided by SolidWorks software to verify the correctness of the design requirements in kinematics.
Finally, edits the required control program of Arduino to drive the robot, and edits the required remote control program for bluetooth as well. Then, uses a 3D printer to print all the parts and the main body (frame) and tail of the bionic scorpion robot, and assembles all the parts with the required control devices together to build the prototype. The testing of the prototype of bionic scorpion robot has performed, and its preliminary result has confirmed the feasibility of this novel design.
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