On the Analysis and Design of 8-link Type Walking Mechanism

• Main Authors: Jia-Yin, Lai, 賴佳吟
• Other Authors: Jie-Shing, Lo
• Format: Others
• Language: zh-TW
• Published: 2013
• Online Access: http://ndltd.ncl.edu.tw/handle/72751053128409100265

碩士 === 國立聯合大學 === 機械工程學系碩士班 === 101 === This study investigates the 8-link type walking mechanism. This research first compares the kinematic performance of two types of popular 8-link walking mechanisms by using dynamic analysis software MSC ADAMS. The displacement and velocity characteristics under const derive input velocity was verified first. Then, the movement trajectories of the center of mass of the mechanisms were used to check as performance index of moving balance. Then discussed the 8-link Type Mechanism, motion characteristics, displacement, and velocity, walking mechanism by ADAMS simulation the software to analyze the mechanism foot track, the center of gravity changes front and rear foot of the horizontal and vertical speed. The moving balance performances of the mechanisms were studied by comparing the leg phase between 180 and 120 degree. The results shown the walking mechanisms with 120 degree of leg phase reveal better performance. For the shake to overcoming up and down slope movement, change of leg movements with respect to the position of joint center was studied with three cases with 0 °, 5 ° and 15 ° of fixed rod variation. The results of this study showed improvement across the height of the walking mechanism can significantly increased in climbing stairs; their mechanism properties and performance can serve as future design reference mechanism.