本文以仿生獸結構為核心，研製一受環境影響較小、應用較為廣泛的水陸兩用載具。仿生獸結構優點在於足部關節皆以連桿方式帶動而不需要過多的馬達，雖然關節控制性較低，但在有水的環境下這樣的結構防水問題相對容易解決。研究過程中主要使用 SolidWorks 進行機構的動態模擬與分析，透過模擬減少實作所常見的反覆修改設計、反覆送刻零件的情形。

本文製作的載具除了齒輪的部分需要較高的精細度因此以 3D 列印製作外，其他機構零件材質皆以壓克力為主。載具長 86 mm 寬 98 mm 高度為 65 mm，加上馬達與電池後總重 131.6 g。實測結果在路上的行走速度約為 2.17 cm/s，而在水中速度約為 1.1 cm/s。

In this study, an amphibious vehicle based on Theo Jansen linkage is designed and implemented. The advantage of Theo Jansen linkage is that all the joints on the leg are driven by the same motor, which means that there's only one motor needed. This design restricts the controllability of joints since the patterns are fixed, but it makes the water-proof design easier. SolidWorks is used to design and observe the functionality of the structure by simulation. By doing so, it avoids finding the problem and editing the design over and over again while assembling the machine.

Since the high accuracy is required for the gears, they are made by 3D printing, whereas other parts of the vehicle are made by acrylics instead. The vehicle has an overall dimension of 98 mm (width) by 86 mm (depth) by 65 mm (maximum height) and weights 131.6 grams with motor and batteries. The measured walking speed is about 2.17 cm/s, and the swimming speed is approximately 1.1 cm/s.

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