On the Design of Theo Jansen Walking Mechanism
碩士 === 崑山科技大學 === 機械工程研究所 === 99 === This article is to investigate the walking mechanism based on Theo Jansen leg mechanism with eight links. By way of the three vector loop equations, the closed form solution of the mechanism can be derived to obtain the position of each link. Differentiating the...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2011
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| Online Access: | http://ndltd.ncl.edu.tw/handle/78089026399385285104 |
| Summary: | 碩士 === 崑山科技大學 === 機械工程研究所 === 99 === This article is to investigate the walking mechanism based on Theo Jansen leg mechanism with eight links. By way of the three vector loop equations, the closed form solution of the mechanism can be derived to obtain the position of each link. Differentiating the vector loop equations with respect the time, the velocity of each link can be solved and the velocity of the foot can be calculated in order to discuss the skidding and at the moment of the support leg changing. This article is compares the kinematics, foot trajectory, pitch angle and the skidding at the moment of the support leg changing etc with the existing design. The results can be a reference for the future design of walking mechanism.
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