Design and Implementation of Amphibious Vehicle with Theo Jansen Linkage

• Main Authors: Ting-YaLiu, 劉庭亞
• Other Authors: Jung-Hua Chou
• Format: Others
• Language: zh-TW
• Published: 2015
• Online Access: http://ndltd.ncl.edu.tw/handle/36470521517112787192

碩士 === 國立成功大學 === 工程科學系 === 103 === In this study, an amphibious vehicle based on Theo Jansen linkage is designed and implemented. The advantage of Theo Jansen linkage is that all the joints on the leg are driven by the same motor, which means that there's only one motor needed. This design restricts the controllability of joints since the patterns are fixed, but it makes the water-proof design easier. SolidWorks is used to design and observe the functionality of the structure by simulation. By doing so, it avoids finding the problem and editing the design over and over again while assembling the machine. Since the high accuracy is required for the gears, they are made by 3D printing, whereas other parts of the vehicle are made by acrylics instead. The vehicle has an overall dimension of 98 mm (width) by 86 mm (depth) by 65 mm (maximum height) and weights 131.6 grams with motor and batteries. The measured walking speed is about 2.17 cm/s, and the swimming speed is approximately 1.1 cm/s.