| dc.description.abstract | The main purpose of this thesis is to analyze the ability of a biped robot to track preset routes. The simulation was completed by combining several computer packages. Those computer packages include MATLAB、PRO-ENGINEER and MSC VISUAL NASTRAN 4D. Among complicated robot behaviors, lower-limb was preset, and upper-limb was designed as a single concentrated mass. The upper-limb was designed to offer compensation for a stable walking. The governing differential equations were derived based on kinematics and dynamic equilibrium considerations. During the simulation, the equilibrium position of the lower-limb positions were calculated first, then utilizing MSC VISUAL NASTRAN 4D and MATLAB to calculate upper-limb equilibrium position. This procedure was repeated when the robot motion proceed. Each link of the biped robot was drawn by Pro-Engineer and then loaded in MSC VISUAL NASTRAN 4D to serve as simulation parameters.
Gait analysis includes walking in the straight line, circling 180° at specific point, S-path, changing velocity, right angle turn and climb-down stairs. With different walking modes, different motor rotation angles, foot and waist paths were obtained. The simulation could provide useful design data when design and construction a hardware biped robot. | en_US |