The purpose of this study is to design an innovative mechanism for robot dog's legs, including analyzing the existing commercial robot dogs, modeling the characteristic of entity by Pro/Engineer, and simulating the mechanism by Visual Nastran.
The leg designed in this study is a five-bar linkage with pantograph mechanism. This leg mechanism has two degrees of freedom. In order to control the motion of legs easily, a method which converts the locus of movement into the control parameters of motor is introduced by analyzing the mechanism of the robot dog's legs. The result of computer simulation shows that the designed mechanism can achieve slow movement smoothly. The gait of the designed legs is based on the motion pictures of a real dog. The movement of legs of the designed robot dog is then simulated by computer program involved Visual Nastran and then compare to that of a real dog.
| Identifer | oai:union.ndltd.org:NSYSU/oai:NSYSU:etd-0806105-211020 |
| Date | 06 August 2005 |
| Creators | Huang, Ting-wei |
| Contributors | Inn-chyn Her, Ying-chien Tsai, Jao-hwa Kuang, Der-min Tsay |
| Publisher | NSYSU |
| Source Sets | NSYSU Electronic Thesis and Dissertation Archive |
| Language | Cholon |
| Detected Language | English |
| Type | text |
| Format | application/pdf |
| Source | http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0806105-211020 |
| Rights | campus_withheld, Copyright information available at source archive |
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