機器人腳之邊界元素接觸分析

Boundary Element Contact Analysis of Robot Foot

塗憲麒(Shien-Chi Tu)

指導教授 ： 劉昭華

淡江大學/工學院/機械與機電工程學系碩士班/碩士(2011年)

https://doi.org/10.6846/TKU.2011.00363

摘要

當機器人腳承受前傾和側向力矩時，可能造成機器人翻覆的不穩定狀態。本論文利用邊界元素法，從事機器人腳與地面之彈性接觸分析，接觸分析過程為疊代程序，且同時考慮位移與應力接觸條件，亦即接觸應力須為壓應力，且接觸區域內節點不得穿透地面。此程序可求出不同受力情況下機器人腳與地面之接觸區域大小及應力分布。本論文分析過程將地面考慮為剛體，機器人腳為彈性體，在腳上同時施加垂直地面的正向力，以及使機器人往前傾倒或側向傾倒的力矩，求出翻覆力矩大小，並比較彈性體矩形腳型以及彈性體半圓形腳型的翻覆力矩。

關鍵字

雙足機器人 ； 邊界元素法 ； 翻覆力矩 ； 接觸分析

並列摘要

A robot foot may tip-over when it is subjected to forward as well as lateral turning moments. In this thesis boundary element method is used to perform foot-to-ground elastic contact analysis. The procedure is iterative, and makes use of both displacement and stress contact conditions, namely, no interpenetration, and compressive normal stress. Contact region and stress distribution in the region may be determined in the analysis. In this thesis the ground is rigid while the foot is elastic. A normal force, together with forward and lateral turning moments, are applied to the foot. The critical turning moments causing tipping-over may be determined. The critical moments for a semi-circular foot are compared to the moments for a rectangular foot.

並列關鍵字

Biped robot ； Boundary element method ； Tip-over moment ； Contact analysis

參考文獻

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