Structural Classification Of Animals And Study On The Design And Performance Of Walking Robot

All the time, the force and beauty of animals are the source of engineers' inspiration. We should take a broad view of nature when designing biomimetic robots. In this dissertation, all the animals with exoskeleton or endoskeleton appendages are analyzed with the physical model of the solution space theory and some theoretical evidences for biomimetic robots dimensional design are presented. the mail contents include:Firstly, the mechanisms with three moving links are defined and the appellation's regulation and construction are clarified. The forward kinematics and velocity problem are set up. Based on physical model of the solution space, some performance indices such as workspace, dexterity, velocity and stiffness are studied and the atlases of performance are plotted.Secondly, there area some typical animals from chordate and arthropoda, and their structures are studied. The classes include mammalian, amphibian, reptile, aves, trilobite, merostomata, insecta, crustacra, arachnida, myriapoda, and some joints' forms are given.Finally, 40 types of animals dimensions' distribution are given, and the influences of different link proportion on animals' performance such as payload index, jumping index, and running index are analyzed.