| Summary: | 碩士 === 國立成功大學 === 機械工程學系碩博士班 === 100 === This study reconstructs and improves the biomimetic wheel designed and constructed based on the experiences of Wang Chien. This wheel consists of eight sets of identical cell linkages and is compatible with conventional vehicles. The wheel is a mechanism with variable topology structure, where the change of topology is caused by the special shape geometries of links. In this study, six types of topology structures are identified for the design first. Then, the formulations of kinematic and static force analyses are developed based on the identified topology structures. And, the interior-point algorithm is chosen in the fmincon function of MATLAB for dimension synthesis and optimization. Optimal dimensions of designs with seven to eleven cells are obtained from the procedure of dimension synthesis. The kinematic and force analyses to the newly obtained dimensions reveal that the input torque and fluctuation of frame center decreases with the increase of cell numbers. The analyses also reveal that the new designs have advanced performances comparing with the original design, and are practical and feasible.
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