本研究的主要目的為,利用一套系統化的方法,設計出具有十連桿組的腿部機構，可自行平衡行走的四足步行機器。首先，挑選一個現存的十連桿腿部機構作為初始設計，並利用ALM最佳化方法針對這個腿部機構進行尺寸合成，得到理想的足部軌跡曲線。接著，利用二段式速度控制的概念，調整腿部機構在支撐相與轉換相之間的時間比，增長腿部機構在支撐相的時間。然後，為了保持此步行機器隨時至少有三條腿接觸地面以加強移動時的穩定性，在某特定時間四條腿的足點都安置在特定的位置，以保持此波浪型步態相位差。再來，針對所設計出的步行機器，分析與評估其特性，包括運動分析、力量分析、以及電腦動畫模擬。運動分析顯示，最佳化設計後之腿部機構在跨越性能上有良好的表現。在力量分析方面，藉由機械利益推估得知此步行機器雖然不具機械利益為零的死點位置，但是會在交換懸空腿時發生機械利益劇降的情形。藉由動畫模擬的製作，可避免此步行機器在作動時，腿部機構的桿件發生干涉，並確定運動時各腿足點在預期之位置。最後，製作出此四足步行機器之原型機，並驗證出本設計是可行的。

　　A self-balanced quadruped walking machine with leg mechanisms of 10-bar linkage is designed by a systematic approach. At first, an existing leg mechanism of 10-bar linkage is selected as the tentative design, and the dimensional synthesis is performed to obtain the desired foot trajectory by the optimization technique of ALM. Next, the time ratio between the support phase and the transfer phase is adjusted by a two-speed control method to increase the time period of support phase. Then, in order to make sure that there are always at least three legs on the ground for the wave gait to enhance the stability of locomotion, the foot point of each leg at a specific time is placed on the specific position upon the foot trajectory. The kinematic analysis, force analysis, simulation, and animation are carried out to evaluate the characteristics of the designed walking machine. The kinematic analysis reveals that after optimum design, the designed leg mechanism has a good stability for striding. The force analysis shows that this walking machine does not run into the configuration of dead center position with the mechanical advantage of zero. However, the mechanical advantage suddenly drops down while the walking machine changes the transferring leg during the locomotion. From the simulation and animation, we know that there is no interference between the links of the leg mechanism and that the foot point positions of each leg are at the expected positions during the locomotion. Finally, a prototype of the designed quadruped walking machine is constructed and it is proven that this design is practical and feasible.

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