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    Please use this identifier to cite or link to this item: https://tkuir.lib.tku.edu.tw/dspace/handle/987654321/74674

    Title: 機器人腳之接觸應力分析
    Other Titles: Contact stress analysis of robot foot
    Authors: 黃炫學;Huang, Syuan-Syue
    Contributors: 淡江大學機械與機電工程學系碩士班
    Keywords: 機器人腳;接觸分析;滑動;傾倒;有限元素法;robot foot;contact analysis;sliding;tipping over;finite element methods
    Date: 2011
    Issue Date: 2011-12-28 19:16:28 (UTC+8)
    Abstract: 本文針對機器人腳利用套裝軟體 ANSYS 從事有限元素接觸分析,在機
    In this thesis the commercial software ANSYS is utilized to perform
    finite element contact analysis on a robot foot. Both normal and tangential
    forces, with or without moments in various directions, are applied to the
    ankle of the foot, and they change foot-to-ground contact conditions. When
    the foot is subjected to both normal and tangential forces, sticking zone
    decreases with increasing tangential forces, ultimately the foot approaches
    the state of gross sliding. The twisting moment in the normal direction
    produces similar results as the tangential forces, a combination of the
    twisting moment and a tangential force may also bring the foot to the state
    of gross sliding. On the other hand, if the foot is subjected to both the
    normal force and a turning moment, the contact zone moves toward the
    boundary, ultimately the foot loses contact and tipping over. Several force
    combinations to bring the foot to instability are found, and corresponding
    variations of sliding and sticking zones are observed.
    Appears in Collections:[Graduate Institute & Department of Mechanical and Electro-Mechanical Engineering] Thesis

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