仿螞蟻步行之腿部機構設計

Bionic Mechanism Design for Ant’s Walking

劉實恩(Shi-En Liu)

指導教授 ： 陳正光

國立臺北科技大學/機電學院/製造科技研究所/碩士(2011年)

摘要

本文提出一種模仿螞蟻步行的機構設計。主要設計目標包括: (1)設計腿部連桿組，模擬真實螞蟻腿部運動，(2)馬達的數量減至最少，以減少腿部重量並驅動腿部機構，(3)規劃其直走與轉彎的步態控制流程，並模擬驗證其可行性。
首先擷取螞蟻所有腿部的腿節關節和脛節足端的運動軌跡，然後在這兩軌跡曲線上各找出互相對應的精準點，做為合成所需連桿組的依據。而所需的連桿組類型是從運動鏈中利用自訂的設計條件來篩選得到，再利用SolidWorks軟體提供的限制條件功能，進行尺寸合成，並使用解析法驗證。最後，透過COSMOS Motion軟體模擬運動軌跡和步行機構觸地行走，驗證其可行性。

關鍵字

步行 ； 螞蟻 ； 機構 ； 仿生

並列摘要

This thesis presents a bionic mechanism design for mimicking ant’s walking. The aim of this novel design includes: (1) Design the required leg-linkages to mimic ant’s walking, (2) Use the least number of motors to decrease the total weight and drive the leg-linkages, and (3) Present the control design of walking straight and making a turn, and confirm the feasibility of the design.
Firstly, the paths of leg’s end-point and tibia’s end-point are captured from the video of ant’s walking. Then, the required corresponding sets of precision points are chosen from these two paths and taken as the basis for synthesizing the desired linkages. The type of linkages used to synthesize are selected from the potential six-bar-seven-joint kinematic chains based on the required design conditions. The dimensional syntheses of the desired linkages are obtained by the aid of SolidWorks software via its function of setting constrained conditions. The synthesized linkages for mimicking ant’s walking have been simulated in SolidWorks software to check its conformity with the original paths of interesting points. Furthermore, the dimensions of resulted linkages have been confirmed by the analytical synthesis method. The walking and it’s the paths have been confirmed by COSMOS Motion software and, therefore, the feasibility of this novel design is confirmed.

並列關鍵字

Walking ； Ant ； Mechanism ； Bionic Design

參考文獻

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