Дисертації з теми "Walking mechanisms"
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Ludwar, Björn. "Mechanisms for intersegmental leg coordination in walking stick insects." [S.l. : s.n.], 2003. http://deposit.ddb.de/cgi-bin/dokserv?idn=968372333.
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Wei, Terence. "A robot designed for walking nd climbing based on abstracted cockroach locomotion mechanisms." online version, 2006. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=case1131722937.
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Wei, Terence E. "A Robot Designed for Walking and Climbing Based on Abstracted Cockroach Locomotion Mechanisms." Case Western Reserve University School of Graduate Studies / OhioLINK, 2006. http://rave.ohiolink.edu/etdc/view?acc_num=case1131722937.
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Blazek, Alisa D. "Integrative Approach to Understanding the Multimodal Effects of Exercise Adaptation." The Ohio State University, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=osu1439546709.
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Seebacher, Barbara. "Effects and mechanisms of rhythmic-cued motor imagery on walking, fatigue and quality of life in people with multiple sclerosis." Thesis, University of Brighton, 2018. https://research.brighton.ac.uk/en/studentTheses/ab8be449-917f-4b44-8f52-1e74bc17244b.
Повний текст джерелаАнотація:
BACKGROUND: walking impairment, fatigue and reduced (health-related, HR) quality of life (QoL) are key problems for people with multiple sclerosis (pwMS). Motor imagery (MI) and rhythmic cueing have been shown to improve motor function. It is unclear whether a combined rhythmic-cued MI treatment is effective in pwMS. AIMS: the aims of this thesis were to investigate the effects and mechanisms of differently cued and non-cued MI on walking, fatigue, (HR)QoL, MI ability and gait synchronisation with music beat in pwMS. Two randomised controlled trials and a reliability study were conducted, to examine the gait analysis instruments. METHODS: adults with mild to moderate MS were recruited at the MS-Clinic, Innsbruck Medical University, Austria and randomised to one of three groups. Participants practised MI of walking for 17 minutes, 6 times per week for 4 weeks. In Study 1, music-verbal-MI group participants performed music- and verbally-cued MI, metronome-verbal-MI group participants practiced metronome- and verbally-cued MI and participants in the control group received no intervention apart from their usual care, as all participants did. In Study 2, participants in the music-verbal-MI group practised music-cued MI with verbal cueing, participants in the music-MI group performed music-only cued MI and non-cued MI participants practised MI alone. Primary outcomes were walking speed and walking distance. Secondary outcomes were walking perception, fatigue, (HR)QoL, MI ability and sensorimotor synchronisation, of gait to a music beat. RESULTS: after rhythmic-cued MI, significant improvements in walking speed, distance and perception were observed when compared to no intervention or noncued MI. The greatest and clinically most significant improvements in fatigue and (HR)QoL were seen after music- and verbally-cued MI. All participants were able to perform MI and showed improved MI ability after the 4 week intervention. The gait analysis instruments used were shown to be reliable. Post-intervention, sensorimotor synchronisation was significantly more accurate in participants in the rhythmic-cued MI groups, as compared to those in the non-cued MI group. There were no adverse events, full compliance was observed and 217 participated in the whole study. CONCLUSIONS: as a stand-alone treatment, both non-cued and metronome- and verbally-cued MI significantly improved walking in pwMS. All types of rhythmic-cued MI significantly improved walking, fatigue and (HR)QoL in pwMS, but music- and verbally-cued MI was shown to be superior. After a familiarisation with rhythmic-cued MI, all participants showed high MI ability. This suggests that participants were undertaking MI and supports MI being a reasonable explanation for the improvements found. Sensorimotor synchronisation improved only after cued MI and might be another mechanism which contributed to participants’ walking improvements. This thesis, therefore, provides recommendations for physiotherapists on utilising rhythmic-cued MI, without physical practice, for the treatment of walking impairment and fatigue in pwMS.
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Peyré-Tartaruga, Leonardo Alexandre. "Energética e mecânica da caminhada e corrida humana com especial preferência à locomoção em plano inclinado e efeitos da idade." reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2008. http://hdl.handle.net/10183/12723.
Повний текст джерелаАнотація:
Dois modelos mecânicos, o pêndulo-invertido e o massa-mola, explicam como os mecanismos pendular e elástico minimizam o dispêndio energético advindo dos músculos durante caminhada e corrida humana. A presente tese testa dois efeitos que, para nosso conhecimento, todavia não possuem respostas conclusivas da literatura, nomeadamente o processo de envelhecimento na mecânica da corrida humana e o efeito da inclinação do terreno na velocidade ótima da caminhada. Para estudar o primeiro efeito, as forças de reação do solo provenientes de uma plataforma de força (4m x 0,50m), foram usadas para a posterior comparação de: i) trabalho mecânico, ii) parâmetros do sistema massa-mola e, iii) assimetrias contatodespregue entre jovens e idosos. Os idosos produzem menos força durante a fase de trabalho mecânico positivo com uma menor oscilação vertical total e oscilação durante a fase aérea. Conseqüentemente a capacidade de armazenar e re-utilizar energia elástica dos tendões é prejudicada contribuindo para o maior dispêndio energético neste grupo quando comparado com jovens.Para o modelo do custo eletromiográfico (EMG) da caminhada humana criou-se duas abordagens: experimental e teórica. Em ambas as abordagens, informações da atividade EMG de dezesseis músculos, sendo 8 posturais e 8 propulsores foram coletadas e analisadas a partir da integral EMG. A abordagem teórica parece ter uma melhor relação com as evidências experimentais sobre a energética da caminhada humana em inclinações. Os principais mecanismos envolvidos na nova hipótese são i) músculos posturais que não realizam trabalho muscular, exercem uma função importante na determinação do dispêndio energético total e ii) a presente hipótese leva em consideração a co-contração de músculos antagonistas no dispêndioenergético total. Mais experimentos são necessários para confirmar o modelo apresentado neste estudo. Além disso, através de estratégias de otimização e predição linear, um modelo teórico foi delineado a fim de determinar parâmetros mecânicos (comprimento de passada e velocidade de progressão) e energéticos da locomoção terrestre em situações onde as informações disponíveis são apenas a massa e uma curva força de reação vertical versus tempo. Os resultados advindos do modelamento correspondem aos parâmetros determinados experimentalmente. Laboratórios que detenham apenas uma plataforma de força, ou nas áreas onde as informações de entrada do atual modelo sejam as únicas informações (e.g. paleontologia, biomecânica forênsica, etc), a predição de variáveis primárias da locomoção podem ser preditas com razoável acurácia.Two mechanical models, the inverted pendulum and spring-mass, explain how do the pendular and elastic mechanisms minimizing energy expenditure from muscles during human walking and running. Here, we test two effects that, to our knowledge, do not have yet conclusive responses from literature, specifically the ageing effects on mechanics of human running, and the effect of gradient on walking optimal speed. In order to check the former effect, the ground reaction forces came from a force platform (4m x 0.5m) were used for a later comparison: i) mechanical work, ii) spring-mass parameters and, iii) landing-takeoff asymmetries. The old subjects produce less force during positive work resulting in a smaller overall and aerial vertical oscillation of the centre of mass. Consequently, the potential for restore elastic energy from tendons is reduced contributing to greater energy expenditure than in young subjects. In relation to Electromyographical (EMG) Cost of human walking we created two approaches: experimental and theoretical. In both approaches, information from EMG activity of sixteen muscles, eight postural and eight propulsor were collected and analysed. The theoretical approach seems to fit better with the energy expenditure during gradient walking. The main mechanisms involved in this new hypothesis are i) postural muscles that do not perform muscular work, play an important role in the total energy expenditure and ii) the present hypothesis take the co-contraction into account of the antagonist muscles in the total energy expenditure. Further experiments are necessary to confirm this hypothesis. Besides, using optimization and linear prediction procedures, a theoretical model was designed to estimate mechanical parameters (stride length and velocity of progression) and energetic variables of terrestrial locomotion when available information consists only of mass and one vertical ground reaction force versus time.The results from this modelling are similar to experimentally obtained data. Laboratories with just one force platform, or in areas where the present model’s input information be the unique accessible data (e.g. palaeontology, forensic biomechanics, etc) the prime variables of locomotion may be estimated with reasonable accuracy.
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Поліщук, Михайло Миколайович. "Автоматизований синтез мобільних роботів довільної орієнтації в технологічному просторі". Thesis, КПІ ім. Ігоря Сікорського, 2021. https://ela.kpi.ua/handle/123456789/45480.
Повний текст джерелаАнотація:
Дисертація присвячена вирішенню важливої науково-практичної проблеми –
розробці методології синтезу мобільних роботів довільної орієнтації (РДО) у
технологічному просторі з системами втримання мобільних роботів на поверхні
переміщення для компенсації гравітаційного та технологічного навантаження.
Запропонована методологія автоматизованого синтезу мобільних роботів
довільної орієнтації у технологічному просторі базується на трьох основоположних
принципах: 1) нагромадження потенціальної енергії переміщення й перетворення її
в кінетичну енергію руху робота; 2) інтеграції приводів поздовжнього й
вертикального переміщення; 3) застосування аеродинамічної піднімальної сили як
засобу протидії гравітаційному навантаженню на робот. На основі розробленої
методології автоматизованого керування синтезом мобільних роботів створені нові
модифікації мобільних засобів в галузі робототехніки. Проведені експериментальні
дослідження керування технологічними режимами аеродинамічної піднімальної
сили як засобу протидії гравітаційному навантаженню, підтверджують доцільність
технічних розв'язок мобільних РДО з метою збільшення їх технологічного
навантаження.The dissertation is devoted to solving an important scientific and practical problem – the development of a methodology for controlling the synthesis process of mobile robots of arbitrary orientation in the technological space with systems for holding mobile robots on the surface of moving to compensate for the gravitational load. The soluti on to this problem is aimed at creating a new means of production – a variety of robotics in the form of mobile robots of arbitrary orientation, which takes into account the needs of society, the level of its socio-economic, scientific and technological development in modern production. Studies are devoted to solving the problem of excluding human labor from the sphere of servicing high-rise facilities at industrial and municipal facilities and providing a person with remote automatic control functions. Mobile robots of arbitrary orientation in the technological space, also known as robots with vertical movement, and in international publications under the name Climber Robot are a new modification of mobile robots equipped with tools to hold the robot on a surface of arbitrary orientation relative to the horizon of the technological space. The creation of this type of robotics is at the initial stage and is dictated by the need for technological operations in such areas as monitoring of industrial facilities, installation anddismantling of building structures, repair and preventive maintenance of their components, maintenance of high-rise buildings of public utilities, forest and parklands, etc. n. The problem of using mobile robots is especially relevant in the extreme conditions oftechnological disasters in which human work is dangerous and even unacceptable to humans. The methodology for managing the synthesis of mobile robots in the technological space is based on three fundamental principles: 1) the accumulation of potential displacement energy and its conversion into kinetic energy of robot movement; 2) integration of drives of longitudinal and vertical movement, as well as drives of changing the orientation of the robot along a given route; 3) the use of aerodynamic lifting force as a means of counteracting the gravitational load in order to increase the technological load while reducing the power of the drive drives and the adhesion of the robot to the displacement surface. The indicated directions in world theory and practice of the experimental construction of mobile robots have not yet been investigated. Based on the developed methodology for managing the synthesis of mobile robots, new modifications of mobile robots have been created. The proposed technical solutions allow robots to move along surfaces of arbitrary orientation in various coordinate systems with an arbitrary topology of the surfaces of movement of the robot. The experimental studies of the control of aerodynamic lift regimes as a means of counteracting the gravitational load confirm the feasibility of using the developed technical solutions ofmobile robots. As a result of setting up a full factorial experiment, a regression and analytical model of the relationship between the values of the aerodynamic lift and the operating modes of the jet thrust generator, namely, the number and diameter of nozzles, as well asthe pressure of the compressed air outflow from the generator nozzles, was obtained. The indicated dependences make it possible to determine the quasi -optimal values of thecontrol modes of the aerodynamic thrust generator. Also, dynamic modeling of themovement of mobile robots on surfaces of arbitrary orientation and different topology has been carried out. The obtained analytical dependences make it possible to calculate the ultimate technological load of the robot and the allowable weight of the robot. Thesedependencies formed the basis for the developed engineering techniques for designing functional devices and drives of mobile robots. These engineering methods for calculating the parameters of mobile robots are automated based on CAE technologies for computeraided design systems. Special programs have been created that allow one to calculate the quasi-optimal values of the modes of operation of mobile robots of arbitrary orientation in the technological space. As a result of theoretical and experimental studies, a synthesis of fundamentally new designs of mobile robots for the maintenance of high-rise industrial and agricultural facilities was carried out. New models of mobile robots allow performing not only monitoring operations of the specified objects, but also power technological operations. Such mobile robots make it possible to exclude the presence of a person in hazardous areas for performing various production operations and to hand over to the operator only the functions of controlling the robots, which is especially important for the conditions of man-made disasters. The implementation of these modifications helps to reduce the total power of the drives and increase the reliability of the retention of robots on a surfa ce of arbitrary orientation in the technological space.
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Brown, Brett C. "Design of a single-degree-of-freedom biped walking mechanism." Connect to resource, 2006. http://hdl.handle.net/1811/6435.
Повний текст джерелаАнотація:
Thesis (Honors)--Ohio State University, 2006.Title from first page of PDF file. Document formatted into pages: contains vi, 55 p.; also includes graphics. Includes bibliographical references (p. 43). Available online via Ohio State University's Knowledge Bank.
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Grenier, Sylvain. "Internal work measurement and simultaneous oxygen consumption of impaired and normal walking." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1998. http://www.collectionscanada.ca/obj/s4/f2/dsk2/tape17/PQDD_0006/MQ36698.pdf.
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Funk, Rachel E. "Using the Active Workstation: Effects on Typing Speed and Walking Mechanics." Miami University / OhioLINK, 2009. http://rave.ohiolink.edu/etdc/view?acc_num=miami1250781568.
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Anderson, Frank Clayton. "A dynamic optimization solution for a complete cycle of normal gait /." Digital version accessible at:, 1999. http://wwwlib.umi.com/cr/utexas/main.
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Ingvast, Johan. "Quadruped robot control and variable leg transmissions." Doctoral thesis, Stockholm, 2006. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-600.
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Zhang, Yang. "Design and synthesis of mechanical systems with coupled units." Thesis, Rennes, INSA, 2019. http://www.theses.fr/2019ISAR0004/document.
Повний текст джерелаАнотація:
Ce mémoire traite de nouveaux principes de conception qui sont inspirés par le couplage de deux unités représentant les différentes structures mécaniques. Les critères de conception optimale et les types d'unités combinées sont différents. Cependant, toutes les tâches sont considérées dans le couplage de ces unités. L'examen critique présenté dans le premier chapitre est divisé en trois sections en raison de la nature des problèmes traités: les robots marcheurs, les compensateurs de gravité et les robots collaboratifs. Le deuxième chapitre traite du développement de robots marcheurs à actionneur unique, conçus par couplage de deux mécanismes ayant les fonctionnants de jambe. Basée sur l'algorithme génétique, la synthèse proposée permet d'assurer la reproduction de la trajectoire obtenue à partir de la marche humaine. Par l'ajustement des paramètres géométriques des unités conçues, il devient possible non seulement d'assurer une marche du robot à des pas variables, mais également de monter les escaliers. Ensuite la conception et la synthèse des équilibreurs pour les robots sont considérés. Un costume robotisé type exosquelette permettant d'aider aux personnes transportant des charges lourdes est examiné dans le chapitre suivant La conception proposée présente une symbiose d'un support rigide et léger et d'un système de câbles monté sur ce support. L'étude et l'optimisation statique et dynamique ont conduit aux tests sur un mannequin. Le dernier chapitre propose l'étude et 'optimisation d'un système couplé, comprenant un manipulateur équilibré à commande manuelle et un robot collaboratif. Le but d'une telle coopération est de manipuler de lourdes charges avec un cobotThis thesis deals with the design principles, which arc based on the coupling of two mechanical structures. The criteria for optimal design and the types of combined units are different. However, all the tasks are considered in coupling of given mechanical units. The critical review given in the first chapter is divided into three sections due to the nature of the examined problems: legged walking robots, gravity compensators used in robots and collaborative robots. Chapter two deals with the development of single actuator walking robots designed by coupling of two mechanisms. Based on the Genetic Algorithm, the synthesis allows one to ensure the reproduction of prescribed points of the given trajectory obtained from the walking gait. By adjusting the geometric parameters of the designed units, it becomes possible not only to operate the robot at variable steps, but also to climb the stairs. The next chapter deals with the design and synthesis of gravity balancers. A robotic exosuit that can help people carrying heavy load is the subject of chapter four. The proposed exosuit presents a symbiosis of two systems: rigid lightweight support and cable system. Static and dynamic studies and optimization are considered. Experiments are also carried out on a mannequin test bench. The last chapter presents a coupled system including a hand-operated balanced manipulator and a collaborative robot. The aim of such a cooperation is to manipulate heavy payloads with less powerful robots. Dynamic analysis of the coupled system is perfonned and methods for reducing the oscillation of the HOBM at the final phase of the prescribed trajectories are proposed
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Baker, Henry Thomas. "A Study of Walkway Safety and Evaluation of Tribological Test Equipment." UNF Digital Commons, 2014. https://digitalcommons.unf.edu/etd/484.
Повний текст джерелаАнотація:
A walkway tribometer measures the coefficient of friction between flooring material and a test foot. The value of the coefficient of friction is an indicator as to whether the flooring surface is slippery and has a propensity to cause slip and falls. This study determined that one style of tribometer, an XL Tribometer, mimics the heel-to-floor interaction of the human heel strike. High speed video footage revealed that the test foot strikes the surface and rotates so that full engagement occurs before sliding thus mimicking the affect of a human ankle. The test foot accelerates forward as would be expected during a human slip event. The manufacturer’s reported impact speed of 11 in/s, when set to the operating pressure of 25psi, was found to be much lower than measured speeds of three calibrated tribometers. Three XL tribometers were tested and provided a range of impact speeds from 17.4 to 22.7 in/s (n=540) when set to the operating pressure of 25 psi. The pressure setting was found to have a significant effect on the impact speed while the mast angle had an insignificant affect. A review of human walking studies revealed a range of pedestrian heel impact speeds on the order of 19.4 to 45.3 in/s during normal human ambulation activities. These tribometers fell on the low side of this speed range. A sensitivity study showed that the measured value of the coefficient of friction tends to decrease with a higher impact speed. This COF decrease was on the order of 0.02 and below the machine resolution and considered inconsequential within the walkway safety community.
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Van, Hamme Angèle. "La marche de l'enfant : évolution de la marche pieds nus et étude comparative de l'influence des éléments de conception de la chaussure." Phd thesis, Université Claude Bernard - Lyon I, 2014. http://tel.archives-ouvertes.fr/tel-01015243.
Повний текст джерелаАнотація:
Durant les premières années de marche indépendante, l'enfant voit sa stratégie de marche évoluer. De plus, il est rapidement amené à porter des chaussures dont l'influence sur sa marche est peu connue, même si documentée dans certains domaines particuliers (e.g. cas pathologiques, sport). Cette thèse consiste en la mesure de plus de 100 enfants sains, âgés entre 1 et 7 ans, marchant pieds nus et avec des chaussures spécifiquement développées pour l'étude (3 éléments variables : hauteur de talon, dureté de semelle et hauteur de tige). Des âges-clés, correspondant à l'âge où les paramètres biomécaniques sont semblables à ceux de l'adulte, ont été mis en évidence : 4 ans pour la cheville, 6 ans pour la hanche, et 7 ans pour le genou. Des régressions sur les paramètres biomécaniques en fonction de l'âge et de la vitesse de marche ont également été développées afin de servir de référence de population saine pour les études cliniques. Les mesures avec les chaussures ont révélé une influence prépondérante de la hauteur de talon sur la marche (e.g. mobilisation plus importante de la cheville avec un talon plus haut). À l'inverse, une tige haute sollicite moins la cheville au cours de l'appui. La dureté de semelle est relativement peu influente sur les paramètres de marche. Cette thèse a permis de préciser les résultats mis en évidence sur la maturation de la marche pieds nus et d'apporter des premières réponses aux industriels français de la chaussure enfant sur l'influence des éléments de conception de leurs produits sur la marche. Des futures mesures, plus nombreuses, permettraient de conclure sur l'influence croisée de ces éléments de conception
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Howard, Clare Elisabeth. "Serotonergic Modulation of Walking Behavior in Drosophila melanogaster." Thesis, 2019. https://doi.org/10.7916/d8-zpx5-8n07.
Повний текст джерелаАнотація:
Walking is an essential behavior across the animal kingdom. To navigate complex environments, animals must have highly robust, yet flexible locomotor behaviors. One crucial aspect of this process is the selection of an appropriate walking speed. Speed shifts entail not only the scaling of behavioral parameters (such as faster steps) but also changes in coordination to produce different gaits, and the details of how this switch occurs are currently unknown.
Modulatory substances, particularly small biogenic amine neurotransmitters, can alter the output and even the connectivity of motor circuits. This work addresses the hypothesis that one such neuromodulator – serotonin (5HT) – is a key regulator of walking speed at the level of motor circuitry. To explore this question, I use the model organism Drosophila melanogaster which, like vertebrates, displays complex coordinated locomotion at a wide range of speeds.
In Chapter 2, I will describe our efforts to characterize the anatomy of the serotonergic cell populations that provide direct input to motor circuitry. I find that innervation of the neuropil of the ventral nerve cord - a structure roughly analagous to the mammalian spinal cord - is provided primarily by local modulatory interneurons. Using stochastic single cell labeling techniques, I will detail the specific anatomy of individual neuromodulatory cells, and also the distribution of synapses across their processes.
In Chapter 3, I will show that optogenetic activation or tonic inhibition of VNC serotonergic neurons produces opposing shifts in walking speed. To analyze behavior, I will use two complementary approaches. On the one hand, I will use an arena assay to holistically assess walking velocity and frequency. On the other, I will use a behavioral assay developed in the lab - the Flywalker - to assess walking kinematics at high resolution. The combination of these technique will give us a broad and specific picture of how the VNC serotonergic system modulates walking.
In Chapter 4, I will identify natural behavioral contexts under which serotonin is used to shift walking behavior. I will use a variety of paradigms that induce animals to shift their speed, from changes in orientation and nutrition state, to pulses of light, odor, and a vibration. I will assess the requirement for the VNC serotonergic system under all of these conditions, to build a clearer picture of its role in modulating behavioral adaptation.
In Chapter 5, I will describe our efforts, in collaboration with Pavan Ramdya's lab at EPFL, to functionally image VNC serotonergic cells while the animal is walking, to understand how activity is endogenously regulated in this population.
Finally, in Chapter 6 I will characterize the circuit elements which might be responsible for serotonin's effect on walking. I will use recently developed mutant lines to identify the particular serotonergic receptors responsible for enacting shifts in walking behavior. Using genetic labeling tools, I will identify potential targets of serotonergic signaling in the VNC, and formulate a model by which action on these targets could adjust locomotor output.
Altogether, this work seeks to characterize the anatomy and behavioral role of the VNC serotonergic system in Drosophila. I hope that through this work, I will gain a deeper understanding of not only this particular modulatory system in this particular behavioral context, but also of how static circuits are conferred with essential flexibility in behaving animals.
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Lee, Sungeun. "Balance mechanisms during standing and walking in young and older adults." Master's thesis, 2010. http://hdl.handle.net/10048/973.
Повний текст джерелаАнотація:
Thesis (M.Sc.)--University of Alberta, 2010.A thesis submitted to the Faculty of Graduate Studies and Research in partial fulfillment of the requirements for the degree of Master of Science in Rehabilitation Science, Faculty of Rehabilitation Medicine. Title from pdf file main screen (viewed on February 16, 2010). Includes bibliographical references.
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You-HsuanYen and 嚴幼軒. "Synthesis of Planar Linkages and Analysis of Walking Mechanisms Using Spreadsheet Software." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/30253114737257487578.
Повний текст джерелаАнотація:
碩士國立成功大學
機械工程學系
102
SUMMARY This thesis presents the use of Microsoft Excel spreadsheet programs in the synthesis of planar linkages and analysis of walking mechanisms. Such programs can be used for design, as well as teaching purposes. These programs contain parameters for the user to specify and provide animations as visual aids. In the synthesis of planar linkages, we use graphical methods in solving three-position problems. We calculate poles in order to find slider joints. Then, we compute the dimensions of linkages and build animation models with graphical user interface. In the analysis of walking mechanisms, this thesis focuses on commonly used walking mechanisms, which mostly contain more than six links. We use the vector loop method to calculate and simulate these walking mechanisms. Three kinds of slider linkages are synthesized, and seven types of walking mechanisms are analyzed systematically in this thesis. In these cases, the user can freely modify the parameters and view animated plots that synchronize with the change of data in order to verify the results. This thesis shows that spreadsheet programs have the potential to serve as powerful tools in more engineering applications due to its user-friendly interface. The studied cases given in this thesis can serve as a base for developing more sophisticated programs for complicated planar mechanisms. Keywords: Spreadsheet, Synthesis of Planar Linkages, Walking Mechanisms INTRODUCTION The development of numerical computing software has enhanced the analysis ability, efficiency, and reliability in engineering applications. Common software analysis tools, such as Mathworks Matlab, ANSYS, and Mathematica, offer useful toolboxes and packages that help users perform data analysis without the need of lower-level programming. However, the prices for such software can be quite costly. Spreadsheet is a type of computer application program that features the storage and analysis of data in a tabular form, i.e., in the form of cells. It is frequently used in data storage and sorting, often related to business administration and financial work. However, spreadsheet is not limited to simple data storage; its computing features can be applied in engineering applications too. Spreadsheet has numerical computing, matrix operations, programming, graphics, and animation capabilities. The main characteristic of spreadsheet is that we can observe design results and modify parameters immediately. This thesis uses the spreadsheet program for engineering applications, and our focus is on the synthesis of planar linkages and analysis of walking mechanisms. MATERIALS AND METHODS In the synthesis of planar linkages, we use graphical methods in three-position problems. The synthesis of binary links is divided into two parts, cranks and sliders. For synthesizing cranks, we choose one point as the circle point in position 1. We then obtain the corresponding circle points in positions 2 and 3 after coordinate transformations. The center of the three circle points is the fixed joint of a crank. For synthesizing sliders, we calculate poles, image poles, and the circle and image circle of the pole triangle. We then select slider joints and find their sliding lines. Combining these two parts, we can synthesize slider crank, double-slider, and inverted slider crank linkages. We use the vector loop method to calculate the positions of linkages when the input parameters vary and to construct animation of linkages. In the analysis of walking mechanisms, this thesis focuses on commonly used walking mechanisms, which mostly contain more than six links. The more links a walking mechanism contains, the more requirements are needed for the movement of the walking mechanism. For a complex multi-link walking mechanism, we divide it into various loops and analyze them using the vector loop method. Although each loop is calculated separately, the parameters of different loops may be dependent on one another. Once the analysis of a walking mechanism is finished, we simulate these walking mechanisms by constructing animation with graphical user interfaces. RESULTS AND DISCUSSION Four-bar and three types of slider linkages are synthesized in this thesis. Slider crank and double-slider linkages are synthesized using the theory about three homologous points through a line. The solution is a circle passing P12, P13 , and P231, and it is the so-called circle of sliders. Inverted slider crank linkages is synthesized using the theory about three homologous lines through a point. The solution is on the circle passing P12, P13 , and P23. Seven walking mechanisms are analyzed in this thesis Chebyshev, Klann, Jansen, Wang, Chiu, Shen, and Hung walking mechanisms. The more links a walking mechanism contains, the more requirements are needed for the movement of the walking mechanism. As a result, the geometry of complex multi-link walking mechanisms must be carefully chosen, and the adjustable ranges of parameters are relatively small. Small changes in link lengths may result in impractical walking mechanisms. Therefore, the most important advantage of using spreadsheet software is that we can observe the locus of a walking path and modify parameters immediately. CONCLUSION This thesis provides spreadsheet files that simulate the studied linkages, and the spreadsheet files allow the user to modify the parameters freely. Using such files, the analysis of linkages can be performed, and animated plots that synchronize with the change of data can help in verifying the motions of linkages. It is demonstrated that spreadsheet programs can be used to develop programs with user-friendly interface in the application of mechanism synthesis and analysis. This thesis also shows that spreadsheet programs have the potential to serve as a powerful tool in more engineering applications. The studied cases given in this thesis can serve as a base for developing more sophisticated programs for complicated planar mechanisms.
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Ludwar, Björn [Verfasser]. "Mechanisms for intersegmental leg coordination in walking stick insects / vorgelegt von Björn Ludwar." 2003. http://d-nb.info/968372333/34.
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Peters, Brian T. "Visual acuity while walking and the collective contribution of non-ocular gaze mechanisms." 2006. https://scholarworks.umass.edu/dissertations/AAI3206200.
Повний текст джерелаАнотація:
A person's ability to see an object clearly is based on both the optical characteristics of their eyes and their ability to keep their eyes oriented toward the target. The ability to accomplish the latter can be compromised by self-motion if adequate compensation for the movement is not provided. The goal of the research presented here is to measure subjects' visual acuity during gaze tasks performed while walking. In addition, the effects of body movements on the gaze goals will be quantified using a measure of head fixation distance (HFD). By defining the distance between the subject and a point in space where minimal ocular compensation would be required, HFD provides a goal-relative measure that captures the integrated contributions from all non-ocular body movements. In Study I, subjects walked on a treadmill at 1.8 m/s and fixed their gaze on visual targets placed in front of them at 0.5 and 4 meters. During the "far" target condition, visual acuity was not different between standing and walking. Shorter HFDs during the "near" condition indicate changes in the coordinative relationships of non-ocular body movements. Although these changes appear to facilitate gaze stabilization by reducing the amplitude of the required eye movements, subjects' acuity was compromised while viewing the "near" target during locomotion. In Study II, treadmill speeds from 1.0 to 1.8 m/s were used to investigate the effects of walking velocity on gaze stabilization of the "near" target. Vertical HFD indicated that head pitch was compensating for more of the vertical trunk translation as walking velocity increased, yet visual acuity became progressively worse. In Study III, the "far" target condition from Study I was repeated to investigate visual acuity and vertical HFD at a sub-step timescale. The vertical HFD was shown to vary within the step-cycle and when compared to an assessment made mid-way between heelstrikes, visual acuity was shown to be compromised immediately following heel contact. The results from these experiments indicate that non-ocular mechanisms contribute to gaze stabilization while walking and provide evidence that ocular control is likely more complex than that provided by simple fixed-gain responses to vestibular stimulation.
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Chen, Yu-ting, and 陳昱廷. "A Study on the Design of Auxiliary Walking Mechanisms for Lower Limb Disablement." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/47189036174094392057.
Повний текст джерелаАнотація:
碩士國立中山大學
機械與機電工程學系研究所
94
Orthoses and auxiliaries are important to the people with lower limb disabled in their daily lives. The purpose of this study is to survey and discuss the existing walking auxiliary mechanism for the lower limb disabled people, and to design a new walking auxiliary mechanism to improve their walking gesture. In order to develop a new auxiliary mechanism for the people with lower limb disabled, commercial orthoses and patents are colleted, analyzed, classified, and compared to each others. Several interviews with a lower limb disablement are arranged and understand what they need. After integrating all the collected information as the design input, theories of mechanism structure synthesis, dimension synthesis, mechanism analysis are utilized to develop a mechanism design of auxiliary for lower limb disabled people to walk, to go up and down the stair. The Pro-Engineering, a CAD software, is used for solid modeling and the Visual Nastran, a CAE software, is applied for motion simulation. The results of computer simulations of walking and climbing up stairs are compared to that of video taken from the interviewed people.
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Chen-YuChan and 詹鎮毓. "Towards a Walking, Turning, and Jumping Quadruped Robot with Compliant and Energy Storing Mechanisms." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/60719163854721069913.
Повний текст джерелаАнотація:
碩士國立成功大學
機械工程學系
104
In this thesis, we introduced a quadruped robot which has compliant legs, energy storing and releasing mechanisms. To preserve the compliance of legs, the quadruped is equipped with cable-driven mechanism which are used to control the compliant legs. The energy storing and releasing mechanisms contained the energy storing springs, worm and worm wheel, rachet and pawls. To determine the dynamics of the robot, we derived dynamic equation by using Euler-Lagrange method. The effect of compliant components were calculated by equivalent torque. The dynamic model was used to simulate the walking and jumping motion of the robot in Simulink. In simulation, the jumping height and distance can be changed by varying maximum tension length of the energy storing springs. The body orientation can be controlled by the turning method that we proposed. The turning method was based on varying the step length of each leg. In simulations and experiments, the results showed that the turning method can lead the robot to desired direction.
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Huang, Chih-Yung, and 黃智勇. "On the Design of A Self-Balanced Quadruped Walking Machine with 10-bar Leg Mechanisms." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/12577757122990727291.
Повний текст джерелаАнотація:
碩士國立成功大學
機械工程學系碩博士班
94
A self-balanced quadruped walking machine with leg mechanisms of 10-bar linkage is designed by a systematic approach. At first, an existing leg mechanism of 10-bar linkage is selected as the tentative design, and the dimensional synthesis is performed to obtain the desired foot trajectory by the optimization technique of ALM. Next, the time ratio between the support phase and the transfer phase is adjusted by a two-speed control method to increase the time period of support phase. Then, in order to make sure that there are always at least three legs on the ground for the wave gait to enhance the stability of locomotion, the foot point of each leg at a specific time is placed on the specific position upon the foot trajectory. The kinematic analysis, force analysis, simulation, and animation are carried out to evaluate the characteristics of the designed walking machine. The kinematic analysis reveals that after optimum design, the designed leg mechanism has a good stability for striding. The force analysis shows that this walking machine does not run into the configuration of dead center position with the mechanical advantage of zero. However, the mechanical advantage suddenly drops down while the walking machine changes the transferring leg during the locomotion. From the simulation and animation, we know that there is no interference between the links of the leg mechanism and that the foot point positions of each leg are at the expected positions during the locomotion. Finally, a prototype of the designed quadruped walking machine is constructed and it is proven that this design is practical and feasible.
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Silverman, Anne Katherine. "Compensatory mechanisms in below-knee amputee walking and their effects on knee joint loading, metabolic cost and angular momentum." Thesis, 2010. http://hdl.handle.net/2152/ETD-UT-2010-08-1706.
Повний текст джерелаАнотація:
Unilateral, below-knee amputees have altered gait mechanics, which can significantly affect mobility. For example, amputees often have asymmetric leg loading as well as higher metabolic cost and an increased risk of falling compared to non-amputees. Below-knee amputees lose the functional use of the ankle muscles, which are critical in non-amputee walking for providing body support, forward propulsion and leg-swing initiation. The ankle muscles also regulate angular momentum in non-amputees, which is important for providing body stability and preventing falls. Thus, compensatory mechanisms in amputee walking are developed to accomplish the functional tasks normally provided by the ankle muscles. In Chapters 2 and 3, three-dimensional forward dynamics simulations of amputee and non-amputee walking were generated to identify compensatory mechanisms and their effects on joint loading and metabolic cost. Results showed that the prosthesis provided body support, but did not provide sufficient body propulsion or leg-swing initiation. As a result, compensations by the residual leg gluteus maximus, gluteus medius, and hamstrings were needed. The simulations also showed the intact leg tibio-femoral joint contact impulse was greater than the residual leg and that the vasti and hamstrings were the primary contributors to the joint impulse on both the intact and residual legs. The amputee simulation had higher metabolic cost than the non-amputee simulation, which was primarily due to prolonged muscle activity from the residual leg gluteus maximus, gluteus medius, hamstrings, vasti and intact leg vasti and ankle muscles. In Chapter 4, whole-body angular momentum in amputees and non-amputees was analyzed. Reduced residual leg propulsion resulted in a smaller range of sagittal plane angular momentum in the second half of the gait cycle. Thus, to conserve angular momentum, reduced braking was needed in the first half of the gait cycle. Decreased residual leg braking appears to be an important mechanism to regulate sagittal plane angular momentum in amputee walking, but was also associated with a greater range of angular momentum that may contribute to reduced stability in amputees. These studies have provided important insight into compensatory mechanisms in below-knee amputee walking and have the potential to guide rehabilitation methods to improve amputee mobility.text
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Liu, Shi-En, and 劉實恩. "Bionic Mechanism Design for Ant’s Walking." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/2cn9vh.
Повний текст джерелаАнотація:
碩士國立臺北科技大學
製造科技研究所
99
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.
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Hou, Jiun-Liang, and 侯俊良. "A Study on the Piezoelectric Walking Mechanism." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/51218039527079519459.
Повний текст джерелаАнотація:
碩士正修科技大學
機電工程研究所
95
In this paper, One had make easy, assemble easy, and high loading of piezoelectric walking mechanism would be studied and discussed. The piezoelectric walking mechanism consists of wear-resisting feet, stacks of the piezoelectric ceramic elements, elasticity component, fixed component, base. Two wear-resisting fixed on two elasticity component, and two elasticity component Fixed on base with four stacks of the piezoelectric ceramic elements for fixed component. While operating, the stacks of the piezoelectric elements and conductor for piezoelectric ceramic was excited so long as certain voltage of drive and frequency applied on the different of electrodes make the actuator “Walking” fast. It’s dimensions and net weight was 120 mm × 65 mm × 60 mm and 630 gw. The purpose of the experiments is test the performance of the different from couple with driver which was maximum travel speed, maximum loading, and speed for net weight under 100Vp-p driving voltage, 63.40 kHz driving frequency. The parallel connection of 13 & 24 driving method was excellence under 100Vp-p driving voltage, 63.40 kHz driving frequency. It maximum travel speed of right is 40.3 mm/sec uner 1310 gw loading, and maximum travel speed of left is 40.7 mm/sec uner 2710 gw loading. The maximum loding of right was 6210 gw, and the maximum loding of left was 7610 gw.
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Hsu, Chih-Min, and 徐治民. "On the Design of Theo Jansen Walking Mechanism." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/78089026399385285104.
Повний текст джерелаАнотація:
碩士崑山科技大學
機械工程研究所
99
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.
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Yuan, Jai-Ting, and 袁嘉廷. "Mechanism Design of A 8-Link Walking Machine." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/11819196016017831142.
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Lin, Shih-Hsiang, and 林詩翔. "Straight Legged Walking Control of Biped Robot withForefoot Mechanism." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/16032718892622345332.
Повний текст джерелаАнотація:
碩士臺灣大學
生物產業機電工程學研究所
98
Comparing to other kinds of robot, biped robot has the advantage of obstacle crossing based on its multiple linkages design. However, multiple linkages design which contains many degrees of freedom increases the difficulty of balance control during dynamic walking. To solve the problem of balance control, the gait design has become an important topic to the dynamic walking of biped robot. The main purpose of this study is to design a straight lagged walking control for biped robot based on forefoot mechanism. In this study, a biped robot which equipped a pair of forefoot mechanisms is designed by using Pro/ENGINEER 4.0. This robot contains 12 degrees of freedom. The robot control model is built by forward kinematic method. The zero moment point (ZMP) trajectory design is used as a main reference for robot dynamic walking, and also as a criterion of robot balance. Moreover, the joints angle of human gait is used to make a sub reference of robot straight lagged walking. The joints angle data can also decrease the calculation loading of robot inverse kinematic model. Finally, a straight lagged walking of biped robot can be implemented by using forefoot mechanism.
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Pu, Yi-Hao, and 蒲奕豪. "Biped Robot Leg Mechanism Design and Control Toward Natural Walking." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/46901742849892377031.
Повний текст джерелаАнотація:
碩士國立臺灣大學
電機工程學研究所
99
The implementation of the specifically designed humanoid biped robot legs investigates towards active actuated natural walking is proposed in this thesis. Conventional humanoid biped robots suffer from problems like artificial and unnatural motion, or low agility. To improve the performance of the humanoid robot, this paper introduces the idea which employs the concept of both active-actuated biped robot legs and the passive dynamic walkers with more naturally walking. The approach in mechanism aspect is primarily based on the utilization of shock absorber and parallel linkage mechanism, which drastically decreases the load of actuator output force thus enables the humanoid biped walking robot legs to achieve higher efficiency while remain lower cost than traditional design since the requirement is also lower. The specifically designed mechanism also provides better support than conventional humanoid biped walking robot. The walking algorithm that combines “Series Elastic Actuation” and “Limit Cycle Walking” permits the robot to move in more natural way. The shock absorbers mounted in serial way at the actuator output enable the implementation of the conventional “Series Elastic Actuation”, and the shock absorbers mounted in parallel way with the actuators are added as the modification in order to store the energy of the actuators like the human muscle and thus even more suitable to implement “Limit Cycle Walking”. The experimental results along with simulation and analysis demonstrate the high potential and possibilities of this concept and introduce the new direction towards the naturally walking humanoid robot legs design.
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LU, MAN-TING, and 呂曼婷. "Conceptual Mechanism Design of a Wearable Rehabilitation Device for Walking." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/t8ydph.
Повний текст джерелаАнотація:
碩士國立臺北科技大學
機械工程系機電整合碩士班
107
The stroke could cause some of patients to suffer from sequel of Hemi-paresis which could seriously affect the patient's daily living, walking especially. In order to mitigate the negative effect of sequel, therefore, the rehabilitation scheduling is very important to the stroke patients. This thesis presents a novel mechanism design of a wearable rehabilitation device for walking. It could not only allow the patients rehabilitate at home, but also reduce the required caring manpower. The mechanism design of this assistive device adopts a six-link-seven-joint six-bar linkage which dimensions are synthesized according to the knee joint and ankle joint trajectories of the human’s lower extremities during walking. This mechanism design has modeled via SolidWorks software, and the interference checking, kinematic simulation and stress analysis have also performed to conform to the human’s lower limbs motion conditions. A reduced scale model of walking rehabilitation device with control design of motor has done. This model is used to perform the operation test. The preliminary result has confirmed its feasibility. Through this rehabilitation device design, it would expect to allow the patients rehabilitate at home and reduce the manpower in taking care of patients.
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Tian-Ruei, Haung, and 黃天睿. "A Study on the Bipedal Walking Mechanism with Pneumatic Drive." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/72334748837641493169.
Повний текст джерелаАнотація:
碩士建國科技大學
機械工程系暨製造科技研究所
101
Abstract To develop a walker which is capable of crossing road obstaces and coupling with an all-purpose wheelchair to eliminate the immobilities of the needy remains one of the most important issues for engineers in the industry of auxiliary aids for population in sub-health conditions. This paper provides an approach of using pneumatic drive with the application of six vertically-actuated pneumatic cylinders evenly arranged on two sets of mobile plates. Together with the integrated linear motion mechanism, steering mechanism, balancer and vertical positioner, the bipedal pneumatic walking mechanism is capable of crossing some obstacles through an accessible space.
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Yang, Hao-Che, and 楊皓哲. "Studies on Humanoid Walking Gait Influenced by Low Limb Mechanism." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/96791811640409749829.
Повний текст джерелаАнотація:
碩士國立高雄第一科技大學
電機工程研究所碩士班
102
It’s easy to implement humanoid robot walking gait if it is designed in better mechanism. The mechanism design influences the degree of reflex force accepted by humanoid robots. Improper mechanism design can break its components and servo motor. Precise and better mechanism design is able to have better walking gait. Therefore, in this thesis the stress and deformation amount of a humanoid robot during standing up or walking is studied. In this study, the legs of our humanoid robot are re-designed to have better gaits for wall climbing in HuroCup competition. In the re-design, the low limb mechanism of the legs is analyzed for the better stress and deformation amount during humanoid walking. The analysis, for grounding the basis of humanoid mechanism design, makes use of SolidWork software to understand the stress and deformation amount during walking. In this study, we design three different kind of low limbs for the comparison during humanoid standing up or walking forward. In addition, the software simulation for the comparison of different strides is also included.
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Shen, Huan-Wen, and 沈煥文. "On the Mechanism Design of 8-link Type Walking Horses." Thesis, 1999. http://ndltd.ncl.edu.tw/handle/51773093594345482226.
Повний текст джерелаАнотація:
碩士國立成功大學
機械工程學系
87
An 8-link type walking horse consists of a walking machine with four identical leg mechanisms and a carriage for balancing. Each leg is an 8-bar linkage with 10 joints and with one degree-of-freedom. The intention of this work is to design an 8-link type walking horse with optimal foot trajectory and minimum driving force. Base on Yan''s creative mechanism design methodology, 117 specialized 8-bar linkages are generated systematically. Then, the atlas of feasible mechanisms is identified based on the method of characteristic numbers. The foot trajectory is obtained by kinematic analysis according to vector loop approach. An ideal foot trajectory is decided by referring to Wang-Chien''s wooden horse carriage and the principle of knee-joint-temporary-lock. Mathematical models of force analysis and mechanical advantage analysis are derived. Optimal dimensions for each leg mechanism are synthesized based on Augmented Lagrange Multiplier method with conforming to the ideal foot trajectory as the main objective and achieving minimum driving force required to push the walking horse as the second objective. Then, the kinematic performance of the 4-link, 6-link, 8-link, Wang-Chien, Chiu-Cheng-Ping, and Hwang-kai type walking horses are evaluated. As a result, the proposed 8-link type walking horse is the best regarding the characteristics of foot trajectory and the bionic; however it is worse than Wang-Chien and Chiu-Cheng-Ping type walking horses regarding the performance of the driving force and mechanical advantage. Finally, a computer simulation software is developed and a prototype is built. The results show that the designed 8-link type walking horse can achieve the required motion characteristics.
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Jia-Yin, Lai, and 賴佳吟. "On the Analysis and Design of 8-link Type Walking Mechanism." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/72751053128409100265.
Повний текст джерелаАнотація:
碩士國立聯合大學
機械工程學系碩士班
101
This study investigates the 8-link type walking mechanism. This research first compares the kinematic performance of two types of popular 8-link walking mechanisms by using dynamic analysis software MSC ADAMS. The displacement and velocity characteristics under const derive input velocity was verified first. Then, the movement trajectories of the center of mass of the mechanisms were used to check as performance index of moving balance. Then discussed the 8-link Type Mechanism, motion characteristics, displacement, and velocity, walking mechanism by ADAMS simulation the software to analyze the mechanism foot track, the center of gravity changes front and rear foot of the horizontal and vertical speed. The moving balance performances of the mechanisms were studied by comparing the leg phase between 180 and 120 degree. The results shown the walking mechanisms with 120 degree of leg phase reveal better performance. For the shake to overcoming up and down slope movement, change of leg movements with respect to the position of joint center was studied with three cases with 0 °, 5 ° and 15 ° of fixed rod variation. The results of this study showed improvement across the height of the walking mechanism can significantly increased in climbing stairs; their mechanism properties and performance can serve as future design reference mechanism.
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Chrang, Chih-Wei, and 莊智偉. "Leg Mechanism Design of Walking Robot Using Multi-objective Genetic Algorithm." Thesis, 2000. http://ndltd.ncl.edu.tw/handle/80401485387183440735.
Повний текст джерелаАнотація:
碩士大同大學
機械工程研究所
88
The purpose of the research is to achieve the minimum thrust and the minimum ratio of size and walking range, which the walking robot needs by using multi-objective genetic algorithm in accordance with Mr. Shieh and others’ closed-link walking robot. Before the design, this research uses the leg mechanism’s kinematic constraint equations to get Jacobian matrix. Then, analyze the force by using the Lagrangian Multiplier theory. And then, use the outcome from the force analysis to be the design’s object value. Next, divide the design into two steps. The first step uses the multi-objective genetic algorithm to the leg mechanism. Then, add springs into the leg mechanism in the second step. To test and verify this method, this report composes the force analysis program and the program of the multi-objective by using Borland C++ 5.0. Then, the researcher starts the leg mechanism design of walking robot. From the mock outcome, using the powerful global searching ability of the multi-objective genetic algorithm can come out more and better results than the original design.
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Lai, Wei-you, and 賴威佑. "Design of a Single Degree of Freedom Six-Link Walking Mechanism." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/387c4d.
Повний текст джерелаАнотація:
碩士國立臺灣科技大學
機械工程系
95
This thesis deals with the kinematic design of a single degree of freedom six-link walking mechanism. The desired motion trajectory of the foot is obtained from video recording of human gait. Based on inverse kinematics analysis and numerical nonlinear optimization techniques, a four bar linkage is first synthesized such that it would generate a coupler curve which is close to the desired trajectory. On the basis of this linkage and the concept of coupler cognate mechanisms, an analytical procedure is developed for synthesizing the six-link walking mechanism. In which the leg is designated to the link which produces parallel motion. A scale model based on the synthesized dimensions is made to verify the proposed design.
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Tu, Che-Wei, and 涂哲維. "Mechanism Design and Manufacture of Lightweight Mobility Aids for Walking Patients." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/63557d.
Повний текст джерелаАнотація:
碩士大葉大學
醫療器材設計與材料碩士學位學程
106
This project aims at the mechanism development of an intelligent patient bed. With the assistance of the mechanism movement of the patient bed, patients can change the in- bed position and/or get off the bed easily; therefore, improving the patient quality of life and reducing the load of the caregivers. The main tasks of the project includes: 1. the motion analysis of patient: to determine the required mechanism movement for the intelligent patient bed, 2. innovative mechanism design: to achieve the required movement, including the kinematic chain analysis, mechanism synthesis, design and selection of the drive system, 3. motion simulation and optimization: to verify the designed motion and optimize the mechanism. The patient bed mechanism developed in this project retains the basic functions of the original one. Besides, a side tilt function and an assistance mechanism for getting off the bed are added. With the help of the developed mechanisms patients can change their in-bed position and get off the bed more easily than ever; therefore improve their life quality and reduce the required effort from the caregivers.
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Yang, Ming-Yi, and 楊明益. "Design and Analysis of An Innovative Mechanism for a Walking Ladder." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/n24eg3.
Повний текст джерелаАнотація:
碩士國立臺北科技大學
機電整合研究所
97
The traditional A-type ladder is a strong solid structure. It provides a safe support for the user to stand on it. It is very often for the user to stand on the ladder to work for a big range of area and frequently require going up and down the ladder which is pretty time-consuming. Some experienced users would dismantle the links connecting the ladder feet in order to walk the ladder by clipping ladder feet. However, it is very dangerous to do that way, and accidents occur quite often. This paper presents an innovative mechanism design for a ladder of capability of stepping and moving. It allows the user stand on the ladder and safely moving the ladder. This 1-DOF mechanism consists of seven links and nine joints. It is based on the structure of traditional A-type ladder and adds few links to obtain the functions of easily to move. Furthermore, it uses the kinematic limitations of the mechanism to ensure the safety from the unexpected open or close of the ladder. The stability of this design has been theoretically analyzed and confirmed. In addition, the walking ladder also has the function of folding. The feasibility has been confirmed through operating a prototype of this design installed to a traditional A-type ladder.
40
Hung-Yi, YU, and 余泓宜. "Analysis and Synthesis of a Walking Mechanismwith Two DOFAnalysis and Synthesis of a Walking Mechanismwith Two DOFAnalysis and Synthesis of a Walking Mechanismwith Two DOFAnalysis and Synthesis of a Walking Mechanism with Two DOF." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/54053247211331825490.
Повний текст джерелаАнотація:
碩士國立高雄應用科技大學
機械與精密工程研究所
95
The main purpose of this study is to synthesize the leg mechanisms, which are suitable for walking machines and can be easily controlled for generating desired motions. Firstly, investigations and evaluations are made for existing mechanisms. A two DOF seven-link mechanism with all revolute joints is then chosen to function as the desired leg mechanism, because it might be synthesized to meet with all the requirements. For the kinematic analysis of the mechanism, a geometrical method followed with the loop-closure method is proposed for determining its kinematic properties. The explicit equations, that are necessary for determining the internal joint forces and external driving forces, are also derived and formulated in matrix form. These kinematic properties and the forces are useful for evaluating the performances of the synthesized mechanisms. An optimization method is proposed herein for synthesizing those mechanisms, the objective function consists of position errors at precision points of couple point and average mechanical advantage. The constraints for obtaining feasible mechanisms are also proposed for the optimization. Then, the Taguchi method are used to performing the sentivity analysis of the design variables for optimization. The index of the sentivity analysis is the position errors at precision points and mechanical advantage. Therefore, the contributions or the influences of the design variables to the index are found. The results of the analysis could be used to reduce the design variables for optimization, and it is also useful for the tolerance design of the links since the design variables are indeed link parameters. Finally, two mechanisms are synthesized with and without reducing design variables, respectively, are also compare.
41
Thompson, Eric William. "Development of a control system for a walking machine leg." Thesis, 1992. http://hdl.handle.net/1957/37272.
Повний текст джерелаАнотація:
This thesis presents a control system for a walking
machine leg. The leg is representative of one of the six
legs required for a proposed walking machine based on the
geometry of the darkling beetle.
Each of the three joints is controlled by a DC servo
motor mounted to the base of the leg. The speed of the
motors is controlled with pulse width modulation. Feedback
of joint positions is accomplished with potentiometers
mounted on the actual joints.
A five-point path, forming a rectangle in the global
coordinate system, is used as a skeleton of the path of
movement. Desired times and accelerations from point to
point are used to develop the path of movement, which
smoothes corners and velocity transitions along the path.
To create a model of the dynamics of each joint, a
constant motor speed is output and the joint velocity and
joint angle are recorded. From several trials at several
different motor speeds, relationships between the joint
velocity, joint angle, and motor speed can be found. This
data is then least squares fit in two dimensions to give two
second order functions. The first function uses the desired
joint angle to calculate the variance from the mean joint
velocity. This variance is then added to the desired joint
velocity and is used in the second function to calculate the
needed motor signal.
Feedback control is accomplished using a PID control
system. Because of the high level of noise in the feedback
signal, a digital noise filter is used. Both moving average
and linear regression techniques are examined.
Performance of the system is measured by comparing the
actual path in Cartesian coordinates to the desired path of
movement. The RMS error is taken along the path, during the
time frame of the ideal system. The maximum Cartesian error
along the path is also used in evaluation.
To determine suitable feedback gain combinations,
several experiments are run and evaluated. Data is plotted
and suitable values are chosen for the feedback gains based
on their performance and sensitivity to change in
performance.
The performance of the leg is measured for a basic
rectangular path, the basic path with a variation in step
angle, and the basic path with a constant body velocity.Graduation date: 1992
42
Hung, Chih-Ching, and 洪芝青. "On the Mechanism Design of A Hybrid 8-link Type Walking Horse." Thesis, 2002. http://ndltd.ncl.edu.tw/handle/qwwgs4.
Повний текст джерелаАнотація:
碩士國立成功大學
機械工程學系碩博士班
90
According to the different structures of horses’ forelegs and hind legs, two different mechanisms are chosen for the combination design of the horse’s legs in this work. After the calculation of horses’ steps, Huang’s walking mechanism is selected to model the forelegs, and the Chiu’s to the hind legs. Then, a hybrid 8-link type walking horse is formed by adding an extra vehicle for the balance. When designing the mechanisms for forelegs and hind legs, Wang’s walking mechanism and the theory of knee-joint-temporary-lock are first applied to derive the ideal foot trajectory. As for the kinematic analysis, the vector loop approach is adopted to generate the foot trajectories for the mechanisms of forelegs and hind legs. Next, the equations of force analysis and mechanical advantage analysis are formulated. In the optimization of dimensions for forelegs and hind legs, Augmented Lagrange Multiplier method is employed to synthesize the ideal foot trajectory that can minimize the driving force required to push the walking horse. In this study, the kinematic performances of the Wang’s, Chiu’s, Hwang’s, Shen’s, and this hybrid 8-link type walking horses are also evaluated. It shows that the hybrid 8-link type walking horse not only has the longest stride distance, but also the best performance in terms of driving force and mechanical advantages. Finally, a simulation is done on computers and a prototype of acrylic material is made. And, through physical model verification, it is proved that the designed hybrid 8-link type walking horse achieves the required characteristics.
43
HSU, Heng-Chia, and 許恒嘉. "Design of walking-assistive device on lower limb with fall-preventing mechanism." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/38571921027638157007.
Повний текст джерелаАнотація:
碩士國立臺灣大學
機械工程學研究所
104
The population of the elders has dramatically increased, and fall prevention has become an important issue for elders care. This paper attempts to design a lower-limb exoskeleton, which could fix the relative rotation of the thigh and calf at specific gait to make the function of fall prevention and helping elder’s walk. Unlike other assist devices, we replace the motor by special mechanism at knee joint for reducing the weight and making control easier on the device. We separate hip joint into two axes (rotation of flexion/extension and adduction/abduction) on the assistive device and make these two axes intersect at the center of the hip joint. Therefore, we can make the joint on the assistive device similar to hip joint. Based on human gait, we design a slider mechanism on the knee part that could be fixed for the leg at its state. Finally, we optimize the design and test a metal prototype. Through experiments, we measure the rotation about hip and knee to verify the function of our assistive device. About the fall-preventing mechanism, we can know the mechanism can reach our purpose, but we don’t know whether this method can reach fall-preventing. In future, we will find some methods to prove the fall-preventing.
44
Giesbrecht, Daniel. "Design and optimization of a one-degree-of-freedom eight-bar leg mechanism for a walking machine." 2010. http://hdl.handle.net/1993/3922.
Повний текст джерелаАнотація:
It has been established that legged, off-road vehicles exhibit better mobility, obtain higher energy efficiency and provide more comfortable movement than those of tracked or wheeled vehicles while moving on rough terrain. Previous studies on legged mechanism design were performed by selecting the length of each link by trial and error or by certain optimization techniques where only a static force analysis was performed due to the complexity of the mechanisms. We found that these techniques can be inefficient and inaccurate. In this paper, we present the design and the optimization of a single degree-of-freedom 8-bar legged walking mechanism. We design the leg using the mechanism design theory because it offers a greater control on the output motion. Furthermore, a dynamic force analysis is performed to determine the torque applied on the input link. The optimization is set up to achieve two objectives: i) to minimize the energy needed by the system and ii) to maximize the stride length. The kinematics and dynamics of the optimized leg mechanism are compared to the one by trial-and-error. It shows that large improvements to the performance of the leg mechanism can be achieved. A prototype of the walking mechanism with 6 legs is built to demonstrate the performance.
45
Kuan-YuLin and 林冠宇. "On the Mechanism Design of 8-bar Linkage Walking Horses with Multiple Joints." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/34703467357159703313.
Повний текст джерелаАнотація:
碩士國立成功大學
機械工程學系碩博士班
101
The England kinetic horse consists of a walking machine with four identical leg mechanisms and a carriage for balancing. Each leg is an 8-bar linkage with multiple joints and with one degree-of-freedom. By analyzing this design, the foot trajectory and its motion characteristics are obtained by kinematic analysis according to vector loop approach. Furthermore, the equations of static forces are formulated. Then, based on the modified Yan’s creative mechanism design methodology, 150 8-bar leg mechanisms with multiple joints are synthesized systematically, and 14 feasible mechanisms are identified according to the concluded evaluation criteria. One mechanism is chosen for dimension synthesis. An optimization method is applied to find optimum leg dimensions with minimum input force, which is 1.73 N, subject to the limited influence of the other gait characteristics including transmission, simulation, and dimensions. Furthermore, the kinematic performances of Wang type, Chiu type, Hwang type, Shen type, and England type kinetic horses are evaluated and compared. The result shows that the designed 8-link kinetic horse with multiple joints has better characteristics in input force. Furthermore, the built 3D model by Solisworks and physical model prove that this 8-link walking horse is feasible.
46
JHANG, BO, and 張栢. "Optimal Dimensional Synthesis and Kinetostatic Analysis of Watt-II Six-bar Walking Mechanism." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/gx7g84.
Повний текст джерелаАнотація:
碩士國立高雄應用科技大學
機械工程系
106
In this study, five evolutionary algorithms-a genetic algorithm (GA), particle swarm optimization (PSO), hybrid particle swarm optimization (HPSO), differential evolution (DE), and self-adaptive differential evolution (SaDE)-were used to optimize dimensional synthesis for the path generation mechanisms of four-bar linkages and Watt-II six-bar linkages. The dimensional synthesis was optimized by minimizing the objective function, which was defined as the sum of squares of the distance error between design points and trajectories of coupler-point of generated mechanisms. Through dimensional synthesis performed on eight different coupler-point trajectories for the path generation of four-bar linkages, the comparisons were made for the rate of convergence of all optimization methods, as well as the errors between coupler-point trajectories of synthesized mechanisms. The results indicated that the SaDE algorithm outperformed the other four evolutionary algorithms, as well as the algorithms adopted in previous studies. Accordingly, the SaDE algorithm may be applicable to the dimensional synthesis problem of multi-loop path generation mechanisms. Because Watt-II six-bar linkages have applications in prosthetics and robot feet, this study employed the vector loop method to derive the kinematic relation of the parameters of the mechanism and performed a kinetostatic analysis to yield a dynamic matrix for solving all joint forces. Subsequently, 11 points on the ideal human walking trajectory were used as design points; the five aforementioned evolutionary algorithms were adopted under kinematic and geometric restrictions to perform optimal dimensional synthesis of Watt-II six-bar leg mechanisms. The results of this synthesis suggested that the SaDE algorithm outperformed the other algorithms in determining the optimal dimensions of the mechanisms. Afterwards, a MATLAB program was written to analyze the kinematic properties and all joint forces of the SaDE-derived optimal Watt-II six-bar leg mechanism. Furthermore, ADAMS was used to perform coupler-point trajectories and dynamic analyses, thereby validating the results obtained through the MATLAB program. Finally, the walking mechanism of a four-leg robot was constructed by assembling four identical Watt-II six-bar linkages symmetrically between the left and right sides but in reverse order between the front and back; ADAMS was then used to simulate the trajectory of the robot’s walking motion and perform a dynamic analysis. In summary, this study used a SaDE algorithm for the optimal dimensional synthesis of Watt-II six-bar linkages and confirmed that the SaDE algorithm had a higher rate of convergence and more satisfactory results than the other evolutionary algorithms. The findings are expected to improve the optimization and design of other complex multi-loop linkages.
47
Chen, Yu-Ju, and 陳昱如. "Mechanism Design of An 8-link Type Biped Walking Machine with Auxiliary Wheels." Thesis, 2004. http://ndltd.ncl.edu.tw/handle/81980007333121641088.
Повний текст джерелаАнотація:
碩士國立成功大學
機械工程學系碩博士班
92
The biped walking machine in this study, with auxiliary wheels, is composed of two identical 8-bar linkages with 10 revolute joints and one degree of freedom. The purpose is to design such a biped walking machine with good kinematic performance and minimum force input. First, the vector loop approach is used to obtain the foot trajectory and the angular displacement of the legs. Then, the equations of force analysis and the analysis of mechanical advantage are formulated. And, the quadratic extended penalty function method is used to obtain the optimum leg dimensions. The kinematic performances of Chiu’s 8-link type walking horses and this biped walking machine are evaluated. The result shows that the designed biped walking machine has good behavior in terms of input force and mechanical advantages. Based on computer simulations and the built prototype, we further prove this designed biped walking machine is feasible.
48
Cheng, Chin-Hung, and 陳志宏. "A Mechanism Design to Simulate Human Ankle during the Stance Phase of Walking." Thesis, 1999. http://ndltd.ncl.edu.tw/handle/44084494684511199067.
Повний текст джерела
49
SU, TZU-LUN, and 蘇子倫. "Mechanism Design for a Foldable Walking-Aid Device with Functions of Wheelchair and Walker." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/rg622g.
Повний текст джерелаАнотація:
碩士國立臺北科技大學
機械工程系機電整合碩士班
107
The population of aged persons is increasing. Due to the joints, muscles and physical fitness of human’s body will gradually degenerate as the age increases, the demand for walking-aid device, therefore, is gradually increasing. Even though the two-function wheeled walker with sitting device has been on the market, its main function is still for walking and not used as wheelchair. The attached sitting device is only for sitting to take a rest. On the other hand, most the wheelchairs are heavy and take up large space while folded, and therefore are not convenient to carry. In case of going outside and needs to bring both walker and wheelchair, it is obvious that requires spend more money to purchase, take up more space and inconvenient to carry. This study presents a novel mechanism design for a foldable walking-aid device with functions of walker and wheelchair. It uses a four-bar linkage to execute the transformation between walker and wheelchair, which results in a lower back height of walker than that of wheelchair. The foldable mechanism applies a Watt-II type six-bar linkage to design, which will take up less space and become a straight column standing on the floor after folded for conveniently carrying outside. This novel design has constructed via Solidworks software and performed the interference check and kinematic simulations via the functions provided by Solidworks to confirm its correctness of design. This study has completed a scaled model of this novel mechanism to perform its operation. The preliminary result has confirmed its feasibility.
50
Yu, Yin-Her, and 尤英和. "Applications of Genetic Algorithm for Optimization of Path Generation With Six-bar Legged Walking Mechanism." Thesis, 2004. http://ndltd.ncl.edu.tw/handle/94437225100449139797.
Повний текст джерелаАнотація:
碩士國立高雄第一科技大學
機械與自動化工程所
92
From earlier research work, the linkage mechanism as some different chain as different kinds of design method. In traditional approach of synthesis to search optimal dimension of each linkage is always to waste time and cost. For this reason if research a process of design for optimal kinematic analysis of linkage mechanism could be help for engineering designer. This research is mainly based on the application of Genetic Algorithm (GA) on optimization of path generation with six-bar legged walking mechanism and parameter interchange for approved effective range of each parameter. From image treatment of walking horse, we taked coordinated value of walking gait to produce one curve of target for compare with GA’s result, and difference between result curve and target curve must less than setting value. Furthermore, in order to comfirm problem for the Genetic Algorithm,we design program with Matlab language,and simulate motion of six-bar leg with MSC. At last, we introduced one intergrated process that combine five targets of research. According to this integrated process of design, we got some good resolution below target of request, and then rechecked optimal result throught Genetic Algorithm. Optimal result aided to 3D body design and analysis of kinematic with application of product finally. Another research that same with or relation with this topic could be refer to this process method in furture. Keyword：Walking gait, Genetic Algorithm, Newton’s method, Parameter interchange.