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研究生：	陳玉崗 Chen, Yu-Gang
論文名稱：	單動力源四足步行機器之設計 On the Design of A Quadruped Walking Machine with A Single Actuator
指導教授：	顏鴻森 Yan, Hong-Sen
學位類別：	博士 Doctor
系所名稱：	工學院 - 機械工程學系 Department of Mechanical Engineering
論文出版年：	2004
畢業學年度：	92
語文別：	英文
論文頁數：	132
中文關鍵詞：	單動力源、四足步行機器、路徑產生器、靜態穩定
外文關鍵詞：	quadruped, walking machines, path generators, single-DOF
相關次數：	點閱：197 下載：8
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摘要

本研究之主要目的，為提出一套系統化方法，用以設計多種單動力源驅動且能達到靜態穩定平衡行走之四足步行機器。此多種步行機器分別具有四連桿、六連桿及八連桿構型，且為單自由度之腿部機構。本文中建立了一套單動力源步行機器之設計流程，並依照各種桿件型態之腿部機構舉例，詳細敘述各流程步驟。本研究之四足步行機器之腿部機構，可由現存的路徑產生器或由創造性設計方法所獲得全新之路徑產生器發展而得。其次，所得之路徑產生器經由最佳化方法，尺寸合成出可用的足部軌跡；而腿部機構之曲柄，則是經由一種兩段轉速之方法控制，用以調整足點分別在支撐段及抬腳時之移動速度，此變轉速控制方式可增大責任因子及改善步行運動的穩定性。再者，四組腿部機構之足點位置及其相對應之曲柄位置，則依照波狀步態理論安排。根據上述原理，輔以適當齒輪組之配合傳動，即可設計而得多種型式之單自由度、單動力源之四足步行機器。
本文另外提出一套方法，針對一架四足步行機器，當其重心位置多變化時，用以分析其步行之穩定性。首先，依照步態理論歸納出整個步行過程中會產生最不穩定之四種情況，經由此四種情況所獲得之支撐邊界的交集，可得到重心分佈位置之穩定面積範圍。當步行機器行走在不同地形上時之穩定面積範圍及重心之最大安全允許高度，則可由上述平面行走時之穩定面積範圍推導而得，並建立重心分佈成金字塔形狀之穩定體積。將各種地形情況所得之安全重心之穩定體積重疊互相比較可得知，只要當重心之變化位置在此穩定體積內，則可以確保此四足步行機器運動之穩定性。本結果有助於，當重心之位置多變化時，例如當步行機器上有負載或因駕駛操控而引起的重心位置變化所導致之運動不穩定性之分析。
最後，本研究製作了一架單動力源四足步行機器原型機，以證明文中所提出之設計方法之可行性，並依照文中所提出之穩定性分析方法以分析此原型機在各種地形之穩定性。

Abstract

This research presents a systematic approach to developing various quadruped walking machines with a single degree-of-freedom (DOF) and with statically stable locomotion. A design flowchart for this approach is introduced and the steps and examples are detailed. Leg mechanisms for developing the quadruped machine can be derived either from existing path generators or from new path generators that are created by a creative mechanism design method based on required design requirements and constraints. Next, the obtained path generators are dimensionally synthesized to obtain usable foot trajectories by the optimization technique. The crank of the leg is driven by a two-speed control apparatus to adjust the moving speed of the foot point both in a support phase and a transfer phase. This variable speed control increases the value of the duty factor and improves the stability of locomotion. According to the above stated theory and with the transmission of an applicable gear train, various types of quadruped walking machines with one DOF can be developed.
In this research, a method of stability analysis for the locomotion of a quadruped walking machine with variable positions of the center of gravity (CG) is also proposed. The stability areas are obtained by taking the intersections of supporting boundaries that are constructed under various unstable conditions for walking on even and uneven terrain. The stability pyramids are built based on the stability area of level walking and the maximum safety height of the CG. The stability volumes for different terrain are superimposed for comparison. This indicates that the locomotion of a quadruped is stable when the position of the CG varies in the range of the stability volume. These results are useful for maintaining the stability of locomotion when the position of the CG varies in cases when there are payloads or pilots on board.
Finally, a prototype walking machine with 8-link type legs is constructed and it has been proven that this approach is feasible for designing various types of single-DOF legged vehicles. And, the stability analysis of the prototype is performed according to the method developed in this study.

Table of Contents

Abstract (Chinese) ……………………………………………………….	I
Abstract ………………………………………………………………….	II
Acknowledgements . ……………………………………………………	III
Table of Contents ……………………………………………………….	IV
List of Tables …………………………………………………………….	VIII
List of Figures ……………………………………………………………	IX
Nomenclature …………………………………………………………..,.	XIII

Chapter 1  Introduction …………………………………………………	1
1 Advantages of Walking Machines ……………………………………	1
2 Literature Reviews ……………………………………………………	2
3 Motives and Objectives ………………………………………………	14
4 Organization of this Dissertation ……………………………………..	16

Chapter 2  Gait Analysis and Foot Trajectories…………………………	19
1 Introduction ………………………………………………………….	19
2 Basic Definitions …………………………………………………….	19
3 Gait Analysis …………………………………………………………	21
3.1 Gaits for Quadruped Animals ……………………………………….	21
3.2 Methods for Gait Analysis ………………………………………….	23
4 Foot Trajectory for A Walking Machine ………………………………	28
5 Summary . ……………………………………………………………	29

Chapter 3  Stability Analysis of A Quadruped Walking Machine ………	30
1 Introduction …………………………………………………………	30
2 Stability Area for Level Walking ……………………………………	31
3 Stability Area on A Slope……………………………………………	34
3.1 Walking in the Direction of Maximum Slope Angle ………………	34
3.2 Stability Area in any Direction on A Slope …………………………	36
3.3 The Maximum Height of CG ………………………………………	37
4 Stability Area for Up and Down A Step ………………………………	40
4.1 Walking Up A Step …………………………………………………	40
4.1.1 Leg 4 Lifts Up ……………………………………………………	41
4.1.2 Leg 2 Lifts Up ……………………………………………………	43
4.1.3 Leg 1 Lifts Up ……………………………………………………	45
4.2 Walking Down A Step ……………………………………………..	46
4.3 Walking Up and Down A Step …………………………………….	47
4.4 The Maximum Height of CG ……………………………………..	48
5 Summary . ……………………………………………………………	51

Chapter 4  Design Approach ……………………………………………  52
1 Introduction …………………………………………………………	52
2 Design Procedure ……………………………………………………	53
3 Existing or New Path Generators ……………………………………	54
4 Usable Leg Mechanisms . …………………………………………..	55
5 Feasible Leg Mechanisms …………………………………………..	56
5.1 CASEⅠ……………………………………………………………	57
5.2 CASEⅡ……………………………………………………………	60
5.3 CASEⅢ……………………………………………………………	61
6 Foot Point Positions Placement . ……………………………………	62
7 Summary ……………………………………………………………	63

Chapter 5  Design Example: 4-Link Type Quadruped Walking Machines ..64
1 Introduction …………………………………………………………	64
2 New Path Generators …………………………………………………	64
2.1 Generalized Kinematic Chain . ……………………………………	64
2.2 Specialized Kinematic Chain ……………………………………..	64
2.3 Particularized Leg Mechanism . ……………………………………	65
3 Usable Leg Mechanisms …………………………………………….	65
3.1 Position Analysis …………………………………………………..	66
3.2 Dimensional Synthesis ……………………………………………	67
4 Feasible Leg Mechanisms ……………………………………………	70
5 Foot Point Positions Placement ………………………………………	72
6 Summary . ……………………………………………………………	73

Chapter 6  Design Example: 6-Link Type Quadruped Walking Machines .	74
1 Introduction . ………………………………………………………..	74
2 New Path Generators …………………………………………………	74
2.1 Generalized Kinematic Chains ……………………………………	74
2.2 Specialization of Kinematic Chains ………………………………	75
2.3 Particularized Leg Mechanisms ……………………………………	77
3 Usable Leg Mechanisms …………………………………………….	80
4 The Watt-Type Path Generator …………………………………….….. 80
4.1 Position Analysis of Watt-Type Path Generator ……………………  80
4.2 Dimensional Synthesis of Watt-Type Path Generator . ……………… 82
4.3 Feasible Leg Mechanisms ………………………………….………	85
4.4 Foot Point Positions Placement . …………………………….………	86
5 The Stepheson I-Type Path Generator ………………………….……	87
5.1 Position Analysis of the Stephenson I-Type Path Generator ….……	87
5.2 Dimensional Synthesis of the Stephenson I-Type Path Generator ….	88
5.3 Feasible Leg Mechanisms ……………………………….…………	90
5.4 Foot Point Positions Placement ……………………………….……	92
6 The Stepheson II-Type Path Generator . ……………………………….	92
6.1 Position Analysis of the Stephenson II-Type Path Generator ………  92
6.2 Dimensional Synthesis of the Stephenson II-Type Path Generator …	93
7 Summary ……………………………….…………………………….	94

Chapter 7  Design Example: 8-Link Type Quadruped Walking Machines ..95
1 Introduction …………………………….…………………………….  95
2 Existing Path Generators ……………….…………………………….  95
3 Usable Leg Mechanisms . ……………….……………………………  95
3.1 Position Analysis ……………….……………………………………	 95
3.2 Dimensional Synthesis ………….………………………………..…	 99
4 Feasible Leg Mechanisms ………….…………………………………	102
5 Foot Point Positions Placement ………….……………………………..103
6 Summary ………………………….……………………………………105

Chapter 8  Prototyping …………….…………………………………….	106
1 Introduction ………….…………………………………………….	106
2 Layer Arrangement for Linkages ………………………………….	106
3 Power Transmission Design ……………………………………….	108
4 Stability Analysis ………………………………………………….	111
4.1 Longitudinal Stability Margin …………………………………….	111
4.2 Stability Area for Level Walking ………………………………….	113
4.3 Stability Area on A Slope …………………………………………	114
4.3.1 Walking in the Direction of Maximum Slope Angle ……………  114
4.3.2 Stability Area in Any Direction on A Slope ………………………	114
4.4 Stability Area for Up and Down A Step …………………………	116
5 Summary ……….……………………………………………………  121

Chapter 9  Conclusions …………………………………………………	122

Bibliography ……………………………………………………………	126
Vita …………………………………………………………………….	131
Vita (Chinese) ……………………………………………………………	132

                                    

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校內：2007-01-02公開
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