Landing Mechanism Design and Posture Control of Double-body System

• Main Authors: Cheng-Cheng Yang, 楊正成
• Other Authors: Cheng-Kuo Sung
• Format: Others
• Language: zh-TW
• Published: 2006
• Online Access: http://ndltd.ncl.edu.tw/handle/93064839079358687227

碩士 === 國立清華大學 === 動力機械工程學系 === 94 === This study is dedicated to explore dynamic characteristic of double-body system at free falling. To imitate cat’s landing process, design a landing mechanism and posture control theorem. In order to provide the motion of animal’s backbone , we emphasize designing active joint to realize landing posture control mechanism. In this study, a complete dynamic model of double-body system , analyzing degree of motion and Euler-coordinate , combining homogenous transformation matrix and energy method to establish function of dynamic. Using ADAMS to build system’s model then simulation dynamic performance. In experiment scheme , we try to design an active joint to provide two degree of torque and controller design. Finally this mechanism would application in anti-drop of electric product.