This thesis examines the influence on range-of-motion
of beetle body of changes in leg segment
parameters. From beetle's leg orientation, influence of
the following leg segment parameters are investigated:
coxa length, coxa twist and body-coxa joint.
Kinematic equations are derived for legs of the
beetle. Roots of quartic polynomials obtained while
solving the kinematic equations are found by using the
Bairstow (1966) numerical method. Inverse kinematic
solutions are obtained for each leg and used to determine
whether a point is within the body range of motion or
not. An algorithm developed by Mason (1957) and Cordray
(1957) for tracing closed boundaries is used to find
ranges of motion of the body and feet.
Changes in body range of motion caused by alteration
in leg segment parameters are complex and not easy to
explain. Similarities between changes in body range of
motion and foot range of motion are observed. A great
deal more work is necessary to fully understand the
importance of observed changes. / Graduation date: 1992
| Identifer | oai:union.ndltd.org:ORGSU/oai:ir.library.oregonstate.edu:1957/36921 |
| Date | 03 December 1991 |
| Creators | Hsu, Chun-chia |
| Contributors | Fichter, Eugene F. |
| Source Sets | Oregon State University |
| Language | en_US |
| Detected Language | English |
| Type | Thesis/Dissertation |
Page generated in 0.0022 seconds