本研究之主要目的在於重建並改進王湔之仿生車輪。此一完全憑藉王湔之經驗所發明並建造而成的仿生車輪，由八組相同的子連桿機構構成，且可直接安裝於使用輪胎的交通工具上。此一仿生車輪為一具可變拓撲構造之連桿機構，而此一拓撲變化現象乃由特定桿上的特殊幾何形狀造成。本研究首先定義出運作中所產生的六種拓撲構造，再根據已知的拓撲構造推導出運動分析與靜力分析所需之運算公式。在建立完整的分析模式後，藉由MATLAB軟體中內建fmincon函數之interior-point演算法，進行尺寸合成與最佳化。藉此可得到具有七到十一個子連桿機構之仿生車輪的最佳尺寸，而再經由先前所得之運動分析與靜力分析可知，輸入扭矩與輪輻中心點之起伏將隨子連桿機構之數目增加而下降，並也藉此驗證了新設計較於原始設計之改進與其可行性。

This study reconstructs and improves the biomimetic wheel designed and constructed based on the experiences of Wang Chien. This wheel consists of eight sets of identical cell linkages and is compatible with conventional vehicles. The wheel is a mechanism with variable topology structure, where the change of topology is caused by the special shape geometries of links. In this study, six types of topology structures are identified for the design first. Then, the formulations of kinematic and static force analyses are developed based on the identified topology structures. And, the interior-point algorithm is chosen in the fmincon function of MATLAB for dimension synthesis and optimization. Optimal dimensions of designs with seven to eleven cells are obtained from the procedure of dimension synthesis. The kinematic and force analyses to the newly obtained dimensions reveal that the input torque and fluctuation of frame center decreases with the increase of cell numbers. The analyses also reveal that the new designs have advanced performances comparing with the original design, and are practical and feasible.

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