本研究以一種上下階梯之電動輔助裝置的設計為基礎，對其作通盤性的研究。首先針對各類上下階梯機構裝置各部分之功能，將其分為行進裝置、傳動裝置、制動裝置、驅動裝置、結構主體、操控裝置、以及其它裝置等七個子系統，並定義與說明各構成要素的功能與設計上需考慮的因素。接著將蒐集到的現有產品與專利，依克服障礙的方式分為跨越障礙行進、順著障礙行進、架設路面行進、以及其它方式行進等四類，從中選擇了跨越障礙行進的類型作為研究主題，並詳細分析現有機構的構造。隨後以分析的結果為基礎，規劃出整個概念設計的流程，訂定出設計需求與限制，根據流程進行各個子系統的概念設計，合成出六個可行的結果，並從中評估出一個最佳的概念，繼續進行運動設計、力量設計、以及細部設計。最後對其作3D建模修改、模擬分析，實作出一原型機，並提出改良構想。

The aim of this work is to conduct a comprehensive study on electric step-climbing devices on the basis of their design concepts. First, according to functions of the mechanisms used in various step-climbing devices, seven subsystems are categorized: the walking device, the transmission device, the brake device, the drive, the structure frame, the control system, and the other devices. Their functions and design considerations are also presented. Then, available products and patents are searched and collected to classify step-climbing mechanisms into four types of motions: the motion of step-climbing obstacle, the motion of following obstacle, the motion of mounting obstacle, and other types of motion. Among them, the motion of step-climbing obstacle is selected as the research topic and the existing mechanisms are analyzed in detail. From the analysis results, a procedure for the conceptual design is proposed with design requirements and constraints properly defined. Following the procedure, we can generate the conceptual design of each subsystem and then synthesize six feasible results. One optimum concept is selected to conduct the subsequent kinematic design, force analysis, and detailed design. Then, a solid model is developed and a prototype of this step-climbing mechanism is built and tested. Finally, some suggestions to improve the design are presented.

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