本研究利用創意性機構設計方法提出一個新的八連桿足型爬梯機構，並提出一個路徑產生最佳化設計方法求得其適合爬梯的機構尺寸。在創意性機構設計方法部分，以八連桿之Theo Jansen機構作為現有機構，以系統化的方法合成獲得所有滿足設計需求與限制的機構，並進行特性評估得到三個可行之新機構；在路徑產生最佳化設計方法的部分，由於多連桿機構之最佳化在過程中若同時改變所有桿件之桿長會導致最佳化結果發散，因此本研究提出一個包含三迴圈之機構軌跡最佳化方法，在每次疊代過程中改變該次最佳化設計變數之桿件組合，且在最佳化過程中將目標軌跡及現有機構軌跡分為多段進行比較，將軌跡形狀差異訂為目標函數進行最佳化。由創意性機構設計方法所獲得之新機構進行最佳化設計後，獲得三個新機構及其最適爬梯之尺寸比例，在評估其爬梯特性後，篩選出一個最適合爬梯之機構進行試作驗證，結果顯示與模擬分析結果相符。本研究所提出之爬梯機構在爬梯過程中質心起伏平緩，未來可應用於輔助爬梯之行動輔具上，藉以改善行動不便者及老年人口的生活。

This study presents an innovative eight-bar stair climbing leg mechanism using creative mechanism design methodology and proposes a path generation optimal design procedure. This study systematically create three feasible designs based on the eight-bar Jansen mechanism subject to design requirements and constraints. In the optimization of linkage mechanism, the optimal result will diverge if all variables are changed at the same time. To resolve this problem, this study presents an innovative path generation optimal design procedure including three loops to make design variables changeable at each iteration to avoid divergence. The difference between target trajectory and mechanism trajectory is defined as the objective function in optimization. The optimal dimensions of the three innovative eight-bar mechanisms are identified by the proposed optimal design procedure. After evaluating the performance index for these three mechanisms during climbing stairs, the optimal mechanism for stair climbing is prototyped. The trajectory from experiment agrees with simulation result. The oscillation at the centroid of the optimal leg mechanism during operation is smaller than other designs. The proposed leg mechanism is expected to be further used in various applications such as robots and assistive devices.

[1] L. A. Rygg, "Mechanical horse," U.S. Patent, 491927, 1893.
[2] 沈煥文, "八連桿型機器馬之機構設計," 國立成功大學機械工程學系碩士論文, 1999.
[3] 江高竹, "十連桿型魯班木車馬之復原設計," 國立成功大學機械工程學系碩士論文, 2005.
[4] J. C. Klann, "Walking device," U.S. Patent, 6260862, 2001.
[5] J. C. Klann, "Walking device," U.S. Patent, 6364040, 2002.
[6] J. C. Klann, "Walking device," U.S. Patent, 6478314, 2002.
[7] Steklov Mathematical Institute網頁, http://www.tcheb.ru/.
[8] Theo Jansen's Strandbeast網頁, http://www.strandbeest.com/.
[9] F. Moldovan, V. Dolga, and C. Pop, "Cad design and analytical model of a twelve bar walking mechanism," University Politehnica of Bucharest Scientific Bulletin, Series D: Mechanical Engineering, vol. 73, pp. 35-48, 2011.
[10] S. Nansai, M. R. Elara, and M. Iwase, "Dynamic analysis and modeling of Jansen mechanism," Procedia Engineering, vol. 64, pp. 1562-1571, 2013.
[11] S. Nansai, M. Iwase, and M. R. Elara, "Energy based position control of jansen walking robot," 2013 IEEE International Conference on Systems, Man, and Cybernetics (SMC), pp. 1241-1246, 2013.
[12] K. Komoda and H. Wagatsuma, "A study of availability and extensibility of Theo Jansen mechanism toward climbing over bumps," 21st Annual Conference of the Japanese Neural Network Society, pp. 3-28, 2011.
[13] K. Komoda and H. Wagatsuma, "A proposal of the extended mechanism for theo jansen linkage to modify the walking elliptic orbit and a study of cyclic base function," in Proceedings of the 7th Annual Dynamic Walking Conference (DWC’12), 2012.
[14] A. Aan and M. Heinloo, "Analysis and synthesis of the walking linkage of theo jansen with a flywheel," Agronomy Research, vol. 12, no. 2, pp. 657-662, 2014.
[15] W.-Y. Lin, "A GA–DE hybrid evolutionary algorithm for path synthesis of four-bar linkage," Mechanism and Machine Theory, vol. 45, no. 8, pp. 1096-1107, 2010.
[16] J.-W. Kim, S. Jeong, J. Kim, and T. Seo, "Numerical hybrid Taguchi-random coordinate search algorithm for path synthesis," Mechanism and Machine Theory, vol. 102, pp. 203-216, 2016.
[17] S. Acharyya and M. Mandal, "Performance of EAs for four-bar linkage synthesis," Mechanism and Machine Theory, vol. 44, no. 9, pp. 1784-1794, 2009.
[18] A. Ghassaei, P. P. Choi, and D. Whitaker, "The Design and Optimization of a Crank-Based Leg Mechanism," Pomona College Department of Physics and Astronomy, 2011.
[19] 林孟弦, "模仿人類爬梯步態之創新八連桿足型機構最佳設計與多足爬梯機器人設計之研究," 國立成功大學機械工程學系碩士論文, 2016.
[20] 徐業良, "應用專利分析進行創新研發布局－以爬梯機技術為例," 運動科技應用高峰論壇論文觀摩, 2013.
[21] Scewo Wheelchair網頁, http://scewo.ch/.
[22] TopChair-S網頁, http://www.topchair.fr/en/.
[23] 黃錦標, "電動爬梯車裝置," 中華民國專利公告號, I417212, 2013.
[24] F. Decelles and P. Decelles, "Climbing and descending vehicle," U.S. Patent, 4790548, 1988.
[25] S-Max Sella網頁, http://www.aatgb.com/s-max-sella.
[26] D. L. Kamen, R. R. Ambrogi, and R. K. Heinzmann, "Transportation vehicles with stability enhancement using CG modification," U.S. Patent, 5975225, 1999.
[27] Stair climbing Robot Shrimp網頁, https://youtu.be/4QDJWIUDSEk.
[28] M. J. Lawn and T. Ishimatsu, "Modeling of a stair-climbing wheelchair mechanism with high single-step capability," IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 11, no. 3, pp. 323-332, 2003.
[29] Stair climbing robot with start wheels網頁, https://youtu.be/jhKRoEsaNLo.
[30] Stair Bear climbing various stairs網頁, https://youtu.be/JD1Su34tI_Q.
[31] T. Brewer, K. Kaipa, and S. Gupta, "A quadruped robot with on-boarding sensing and parameterized gait for stair climbing," Adaptive Mobile Robotics: Proceedings of the 15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Baltimore, USA, World Scientific, July. 2012.
[32] 顏鴻森, 機械裝置的創意性設計. 東華, 2013.
[33] 林冠宇, "具複接頭八連桿型機器馬之機構設計," 國立成功大學機械工程學系碩士論文, 2013.
[34] 劉紹宏, "具一滑行對八連桿型機器馬之設計," 國立成功大學機械工程學系碩士論文, 2005.
[35] W. L. Clecghorn, Mechanics of Machines. Oxford University Press, 2009.