Title page for etd-0806105-211020


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URN etd-0806105-211020
Author Ting-wei Huang
Author's Email Address No Public.
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Department Mechanical and Electro-Mechanical Engineering
Year 2004
Semester 2
Degree Master
Type of Document
Language zh-TW.Big5 Chinese
Title A Design of the leg Mechanism of a Robot Dog
Date of Defense 2005-07-14
Page Count 78
Keyword
  • mechanism
  • linkage
  • locus
  • Abstract 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.
    Advisory Committee
  • Jao-hwa Kuang - chair
  • Inn-chyn Her - co-chair
  • Der-min Tsay - co-chair
  • Ying-chien Tsai - advisor
  • Files
  • etd-0806105-211020.pdf
  • indicate in-campus access in a year and off_campus not accessible
    Date of Submission 2005-08-06

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