摘要
本文針對機器人腳利用套裝軟體 ANSYS 從事有限元素接觸分析，在機 器人腳踝同時施加正向力和側向力，或是同時施加正向力和力矩，導致機器 人腳底產生接觸變化。當機器人腳受到正向力和側向力時，黏著區域隨著側 向力增加而減小，同時滑動區域面積變大，終於造成機器人腳逼近完全滑動 的臨界狀態。正向方向的扭轉力矩亦會產生與側向力相似的狀況，當機器人 腳同時受到側向力和扭轉力矩的組合時，可能使機器人腳底產生完全滑動。 另一方面，當機器人腳受到正向力和側向傾倒力矩時，接觸區域會隨著力矩 大小而移動，移動到機器人腳邊界時，機器人即將傾倒。本文找出數種造成 機器人腳不穩定的力量組合進行分析，觀察腳底的黏著區及滑動區變化。
並列摘要
In this thesis the commercial software ANSYS is utilized to perform finite element contact analysis on a robot foot. Both normal and tangential forces, with or without moments in various directions, are applied to the ankle of the foot, and they change foot-to-ground contact conditions. When the foot is subjected to both normal and tangential forces, sticking zone decreases with increasing tangential forces, ultimately the foot approaches the state of gross sliding. The twisting moment in the normal direction produces similar results as the tangential forces, a combination of the twisting moment and a tangential force may also bring the foot to the state of gross sliding. On the other hand, if the foot is subjected to both the normal force and a turning moment, the contact zone moves toward the boundary, ultimately the foot loses contact and tipping over. Several force combinations to bring the foot to instability are found, and corresponding variations of sliding and sticking zones are observed.
參考文獻
延伸閱讀
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