Kinematics of arthropod legs : modeling and measurement Public Deposited

http://ir.library.oregonstate.edu/concern/graduate_thesis_or_dissertations/ns064916h

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  • This thesis presents a method for determining the kinematic geometry of arthropod legs. A kinematic description makes possible the analysis of arthropod leg motion, as a prelude to investigating how various arthropod species are able to negotiate diverse terrains. Such knowledge will aid in design of legged vehicles. The focus is on three areas: leg modeling, leg measurement for model-parameter determination, and effects of model-parameter accuracy. Three characteristics are considered important to arthropod leg modeling. The model must show proportionality to differences in leg geometry, physically resemble the leg being modeled and be adaptable to various joint types found in arthropods. In successfully addressing all these concerns, the model presented in this work is an improvement over other available models. Measuring the small arthropod leg requires specialized equipment design and measurement technique. A microscope mounted over a positioner which measures three translations and two rotations makes it possible to determine position, orientation and range-of-motion of each successive joint. Model parameters are calculated from these measurements. Measurement errors in positioning equipment are quantified. A technique for representing these measurement errors as errors in the position and orientation of each joint axis is presented. Joint axis errors are superposed to form an error volume surrounding the foot position. Foot-position error can be used to evaluate accuracy of legmodel parameters computed from the measurement method. This technique was used to measure the right middle leg of a darkling beetle and proved to be an effective tool for quantifying kinematic parameters of a small articulated biological mechanism. Such methods may also prove useful for measuring small engineering mechanisms.
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