具一滑行對八連桿型機器馬，是由四組構造相同具單一自由度八連桿的腿部機構及維持平衡的拖車所組成。本研究的目的，是設計出具有良好運動特性及推力小的具一滑行對八連桿型機器馬。首先根據顏氏創造性機構設計法，系統化合成出125種具一滑行對八連桿十接頭的特殊化鏈，並提出特性編碼方式找出5種可行機構。利用向量迴路法進行運動分析，求得足部的軌跡曲線，建立推力及機械利益分析的數學模式。再利用Golden section method最佳化方法，合成出5種可行機構各腿部尺寸的最佳化值，並擇定一可行機構進行細部設計。本研究與邱正平型木車馬做運動性能比較，在跨越高度、重心變化、及推力皆較佳，但在機械利益上則較差。最後利用電腦進行動畫模擬，並製作實體模型，結果顯示所設計出的機器馬確實能達到運動要求。

　The 8-link type walking machine with a sliding pair in this study, is composed of a walking horse with four identical leg mechanisms and an auxiliary carriage. Each leg mechanism is an 8-link linkage with one sliding pair and with one degree of freedom. The purpose is to design such a walking machine with good kinematic performance and minimum driving force. Base on Yan’s creative mechanism design methodology, 125 specialized (8,10) chains with 1 sliding pair are synthesized systematically. Then, the atlas of 5 feasible mechanisms is identified based on proposed characteristic numbers. The foot trajectory is obtained by kinematic analysis according to the vector loop approach. The equations of force analysis and the analysis of mechanical advantage are formulated. The optimal dimensions for each leg mechanism are obtained based on Golden section method with conforming to achieve the minimum driving force. And, one mechanism is identified for the detail design. As a result, the proposed design has better behavior, as comparing with Chiu’s design, in terms of the variation of foot trajectory in the y direction, the variation of mass center, and the driving force. However, regarding the mechanical advantage, Chiu’s design is better. Finally, a computer simulation software is developed and a prototype is built. The results show that the designed walking machine dose achieve the required motion characteristics.

Hall, A. S. Jr., Notes on Mechanism Analysis, Balt Publishers, Lafayette, Indiana, 1981.
Honda, http://world.honda.com/Asimo, 2005.
Ileda, K., Taguchi, K., Nozaki, T., and Matsumoto, S., Walking Vehicle, United States Patent 3,850,259, 1974.
NASA, http://www.nasa.gov/centers/ames/multimedia/images/2005/ Scorpion_ Robot.html, 2005.
Paul, B., Kinematics and Dynamics of Planar Machinery, Prentrice-Hall, New York, 1979.
Singiresu, S. R., Engineering Optimization-Theory and Practice, 3rd Ed., John Wiley & Sons, Inc., New York, pp. 272-327, 1996.
Sony, http://www.sony.net/SonyInfo/QRIO, 2005.
Yan, H. S., Creative Design of Mechanical Devices, Springer Singapore, 1998.
西鄉博，動物活動玩具(跳兔)，中華民國專利57,712，1982。
西鄉博，金子博史，小野寺弘敏，小狗玩具，中華民國專利 49,095，1982。
沈煥文，八連桿型機器馬之機構設計，碩士論文，國立成功大學機械工程學系，1999。
邱正平，波浪型步態機器馬之設計，碩士論文，國立成功大學機械工程學系，1996。
林啟賢，“電動動物玩偶之改良結構”，中華民國專利34,491，1980。
洪芝青，混合八連桿型步行機器馬之機構設計，碩士論文，國立成功大學機械工程學系，2002。
陳伯宏，四連桿與六連桿木車馬之機構設計，碩士論文，國立成功大學機械工程學系，1998。
黃凱，最佳八連桿型機器馬之研究，碩士論文，國立成功大學機械工程學系，1997。
廖英星，具最少層數之平面連桿機構的最佳排列，碩士論文，國立成功大學機械工程學系，1993。
顏鴻森，機構學，第二版，東華書局，台北，1999。
顏鴻森，”古中國的步行機器”，經典雜誌，vol.80，2005.03.01。