Optimal Design of an Innovative Eight-Bar Legged Walking Mechanism that Mimics Human Foot Trajectory when Climbing Stairs and the Development of a Multi-Legged Stair Climbing Robot
碩士 === 國立成功大學 === 機械工程學系 === 104 === This study presents an innovative linkage mechanism and the design of a multi-legged stair-climbing robot. As the traditional continuous track type, star wheel type, and individually controlled multi-legged type stair-climbing machines are either moved slowly or...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2016
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| Online Access: | http://ndltd.ncl.edu.tw/handle/34707355229552780889 |
| Summary: | 碩士 === 國立成功大學 === 機械工程學系 === 104 === This study presents an innovative linkage mechanism and the design of a multi-legged stair-climbing robot. As the traditional continuous track type, star wheel type, and individually controlled multi-legged type stair-climbing machines are either moved slowly or with large oscillation at the centroid during operation. This study presents a multi-legged stair-climbing robot with the capability to steadily climb stairs with consistent human foot trajectory. The leg design is based on the eight-bar Jansen mechanism but a new set of leg configuration is numerically identified based on the proposed optimal design method with the aim to mimic the human foot trajectory when climbing stairs. The kinematic analysis of the leg mechanism based on loop closure equation has been derived in order to identify the leg trajectories for various designs. The targeted foot trajectory is experimentally measured. The weighted sum and sequential quadratic programming methods are used to solve the multi-objective function in the optimal design process. The proposed design is an eight-leg robot; its dynamic performance and trajectories of the multibody motion when climbing stairs have been numerically verified by using the commercial CAE package, RecurDyn. The prototype of the biomimetic robot has been developed to proof the concept design. The experimental results show the multi-legged robot can step up and down stairs with steady human foot trajectory. The outcomes of this study provide numerical methods to analyze the multibody dynamics of the linkage mechanisms as well as to develop an innovative multi-legged walking robot for stair-climbing. The development is expected to be further used for various applications such as rescue robots, information collection/detection, and assistive devices.
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