英國型機器馬，是由四組構造相同的腿部機構構成的步行機器以及作為平衡用的拖車所組成，其單一腿部機構為八桿十接頭、單一自由度並具有複接頭的連桿組。本研究首先將此設計利用向量迴路法進行運動分析，求得足部軌跡曲線及其運動特性，並建立推力分析的數學模式。接著，利用顏氏創意性機構設計方法，系統化的合成出150種八連桿特殊化運動鏈；並利用所建立的評估標準，找到14種可行的機構。其後，挑選出一組機構，利用最佳化方法，結合傳動性能、仿生能力、及基本限制三方面的限制條件，合成出具有1.73 牛頓最小推力具複接頭的八連桿機器馬。與王氏、邱氏、黃氏、沈氏、及英國型木車馬做運動性能分析比較的結果顯示，本研究所設計出的具複接頭八連桿型機器馬，在推力方面有相當不錯的表現。另外，由電腦動畫模擬，利用Solidworks 建立3D模型，並製作實體模型，證明本設計能達到運動要求。

The England kinetic horse consists of a walking machine with four identical leg mechanisms and a carriage for balancing. Each leg is an 8-bar linkage with multiple joints and with one degree-of-freedom. By analyzing this design, the foot trajectory and its motion characteristics are obtained by kinematic analysis according to vector loop approach. Furthermore, the equations of static forces are formulated. Then, based on the modified Yan’s creative mechanism design methodology, 150 8-bar leg mechanisms with multiple joints are synthesized systematically, and 14 feasible mechanisms are identified according to the concluded evaluation criteria. One mechanism is chosen for dimension synthesis. An optimization method is applied to find optimum leg dimensions with minimum input force, which is 1.73 N, subject to the limited influence of the other gait characteristics including transmission, simulation, and dimensions. Furthermore, the kinematic performances of Wang type, Chiu type, Hwang type, Shen type, and England type kinetic horses are evaluated and compared. The result shows that the designed 8-link kinetic horse with multiple joints has better characteristics in input force. Furthermore, the built 3D model by Solisworks and physical model prove that this 8-link walking horse is feasible.

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