- 學位論文
Theo Jansen步行機構之研究
On the Design of Theo Jansen Walking Mechanism
摘要
本文是以Theo Jansen單腿八桿十接頭的機構來做步行機器研究。利用腿部機構列出三組向量迴路，由向量迴路分量方程式推導出閉合解，以求出各桿件的位置。再將向量迴路分量方程式對時間微分可得到機構的速度，藉此來了解提腳腿與著地腿的水平與垂直速度是否會造成打滑、瞬間驅動扭力劇增等問題的發生。利用本研究所做的位置分析、跨越能力、著地腿和提腳腿足步的速度等與現有機構下去做比較，以做為後續發展設計的參考。
並列摘要
This article is to investigate the walking mechanism based on Theo Jansen leg mechanism with eight links. By way of the three vector loop equations, the closed form solution of the mechanism can be derived to obtain the position of each link. Differentiating the vector loop equations with respect the time, the velocity of each link can be solved and the velocity of the foot can be calculated in order to discuss the skidding and at the moment of the support leg changing. This article is compares the kinematics, foot trajectory, pitch angle and the skidding at the moment of the support leg changing etc with the existing design. The results can be a reference for the future design of walking mechanism.