本研究是從現有設計中，根據馬匹的前、後腿構造不同，取兩組不同機構來作組合設計；經由支撐腿順序的計算之後，選用黃氏步行機器作為前腿機構，邱氏步行機器做為後腿機構，並加上作為平衡用的拖車組成混合八連桿型步行機器馬。然後，針對前、後腿機構的設計，首先參考王氏步行機器與膝關節暫時鎖定原理，提出理想的足部軌跡運動曲線，並利用向量迴路法做運動分析，產生機構的前、後腿足部軌跡運動曲線。接著，建立推力分析與機械利益分析的數學方程式。在機構尺寸合成方面，則利用最佳化設計中的ALM方法，以合成理想足部軌跡曲線與降低步行機器運動所需的最大推力值為目的，找出前、後腿機構的最佳尺寸。本研究並將王氏、邱氏、黃氏、沈氏、與混合八連桿型步行機器做運動性能評估，比較結果顯示，本研究所組合搭配出的混合八連桿型步行機器在腿部的跨越距離是最長的，且在推力與機械利益方面亦是最好的。接著，在電腦上製作動畫模擬，並以壓克力為材料製作實體模型。最後，由成品模型驗證所設計出的步行機器的確能達到所需的運動要求。

According to the different structures of horses’ forelegs and hind legs, two different mechanisms are chosen for the combination design of the horse’s legs in this work. After the calculation of horses’ steps, Huang’s walking mechanism is selected to model the forelegs, and the Chiu’s to the hind legs. Then, a hybrid 8-link type walking horse is formed by adding an extra vehicle for the balance. When designing the mechanisms for forelegs and hind legs, Wang’s walking mechanism and the theory of knee-joint-temporary-lock are first applied to derive the ideal foot trajectory. As for the kinematic analysis, the vector loop approach is adopted to generate the foot trajectories for the mechanisms of forelegs and hind legs. Next, the equations of force analysis and mechanical advantage analysis are formulated. In the optimization of dimensions for forelegs and hind legs, Augmented Lagrange Multiplier method is employed to synthesize the ideal foot trajectory that can minimize the driving force required to push the walking horse. In this study, the kinematic performances of the Wang’s, Chiu’s, Hwang’s, Shen’s, and this hybrid 8-link type walking horses are also evaluated. It shows that the hybrid 8-link type walking horse not only has the longest stride distance, but also the best performance in terms of driving force and mechanical advantages. Finally, a simulation is done on computers and a prototype of acrylic material is made. And, through physical model verification, it is proved that the designed hybrid 8-link type walking horse achieves the required characteristics.

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