Graduate Thesis Or Dissertation
 

Range of motion of beetle body as a function of leg parameters

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  • This thesis examines the influence on range-of-motion of beetle body of changes in leg segment parameters. From beetle's leg orientation, influence of the following leg segment parameters are investigated: coxa length, coxa twist and body-coxa joint. Kinematic equations are derived for legs of the beetle. Roots of quartic polynomials obtained while solving the kinematic equations are found by using the Bairstow (1966) numerical method. Inverse kinematic solutions are obtained for each leg and used to determine whether a point is within the body range of motion or not. An algorithm developed by Mason (1957) and Cordray (1957) for tracing closed boundaries is used to find ranges of motion of the body and feet. Changes in body range of motion caused by alteration in leg segment parameters are complex and not easy to explain. Similarities between changes in body range of motion and foot range of motion are observed. A great deal more work is necessary to fully understand the importance of observed changes.
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