臺灣博碩士論文加值系統

　　現代主要的移動載具以車輪為主，然而輪式載具對於非平坦路面的適應性較差。因此，為提昇裝置對地形的適應性，本研究提出了一種可調整運動軌跡之步行機器的腿部機構，藉由可變拓樸機構之多自由度與可變化機構構造，產生運作穩定且地形適應性佳的裝置，依不同地面環境產生對應跨步寬度與高度的運動軌跡。
　　本研究提出一套系統化的機構設計流程。首先透過創意性機構設計方法，系統化的合成符合設計需求的可行設計。藉由現有設計的檢索與分析，歸納其構造特性。其次，選擇其中一個具有八桿十接頭的現有設計，進行一般化，並由具有同樣桿件與接頭數的運動鏈中選取可行的一般化鏈，依序指定機架、大腿桿、小腿桿、及曲柄，得到七種特殊化鏈。再將所得之特殊化鏈透過特性編碼，去除不符合標準之結果，得到一種可行設計，並將其具體化。其次，將可行機構透過向量迴路法進行運動分析；接著建立新型機構的力量分析模式，並藉由幾何約束方法合成出步態軌跡之支撐段接近水平的機構尺寸。取得尺寸後即可透過數值運算與電腦模擬的方式進行運動分析，並比對兩者的分析結果，驗證新型設計可產生理想的足部運動軌跡曲線。將運動分析的結果代入求解力量分析與機械利益；最後透過機構之敏感度分析，分析每個桿件之尺寸容許變動範圍，及其足部軌跡對應的變化情形，進而找到最能改變步態軌跡之跨越高度的伸縮桿位置。再將新型設計實體化，並進行實驗與探討，比較其運動軌跡之模擬值與實際值。結果顯示，本研究所提出之創新設計可藉由操作伸縮桿，使運動軌跡之跨越高度變為原本的2.14倍，而同時運動軌跡之水平寬度僅減少18%，明顯地增加了步行機構跨越障礙的能力。

　　Nowadays, wheeled vehicles are the main transportation, but they are not suitable for the uneven ground. The legged machines have better adaptability to move across the terrain although they are not as efficient as wheeled vehicles. In this study, for improving the adaptability to move across the terrain, a walking mechanism with an adjustable output trajectory is presented to generate the corresponding trajectory based on the environments. The purpose of this study is to generate an innovative design with stable operation and good terrain adaptability through the variable topology mechanisms, with the characteristics of multiple degrees of freedom and variable mechanism structures.
　　A systematic design procedure is proposed. Firstly, feasible mechanism structures are synthesized through the Creative Mechanism Design Methodology. The existing designs are surveyed and classified based on their mechanism structures. One of the existing designs with eight links and ten joints linkage mechanism is chosen and analyzed. According to the concepts of generalization and specialization, one of the kinematic generalized chains with the same number of links and joints is selected, and seven feasible specialized chains are generated by assigning the frame, thigh rod, calf rod, and the crank, sequentially. Moreover, by applying the feature codes, one of the feasible designs is obtained by removing the results that cannot fit the motion characteristics, and the corresponding mechanism sketches are completed through particularization. Secondly, the ideal foot trajectory is a closure curve with a horizontal segment at the bottom. In order to match the ideal trajectory, dimensions of the mechanism are synthesized through the Geometry Constraint Programming. Thirdly, the kinematic and dynamic analyses are made through the vector loop method and free-body-diagram. The force analysis and mechanical advantage are figured out based on the results of the kinematic analysis. Fourthly, the influence of link dimension on foot trajectory can be analyzed through the Sensitivity Analysis, and one of the links is replaced with a telescopic link to adjust the height of the output trajectory. Finally, the performance of the innovative design is verified through computer-aid simulation and prototype testing. As a result, with the operation of the telescopic link, the height of the trajectory becomes 2.14 times with an 18% reduction in width. The ability of the innovative mechanism to hurdle obstacles is significantly improved.

摘要 I
Abstract III
致謝 V
目錄 VI
圖目錄 X
表目錄 XVII
第一章 緒論 1
1.1 研究動機與背景 1
1.2 論文架構 6
第二章 文獻探討 8
2.1 步行機構相關專利 8
2.1.1 中華民國專利 8
2.1.2 美國專利 15
2.2 步行機構相關研究 21
2.3 足部軌跡特性 23
2.4 可變拓樸 24
第三章 機構概念設計 28
3.1 現有設計 29
3.2 一般化運動鏈 32
3.3 特殊化運動鏈 33
第四章 運動分析 40
4.1 角位移分析 41
4.1.1 迴路一 41
4.1.2 迴路二 42
4.1.3 迴路三 43
4.2 角速度分析 44
4.2.1 迴路一 44
4.2.2 迴路二 44
4.2.3 迴路三 45
4.3 角加速度分析 46
4.3.1 迴路一 46
4.3.2 迴路二 46
4.3.3 迴路三 47
第五章 力量分析 48
5.1 力量分析 48
5.1.1 支撐段分析 50
5.1.2 跨越段分析 53
5.2 機械利益分析 56
第六章 機構尺寸 58
6.1 尺寸合成方法 58
6.2 腿部機構尺寸設計 59
第七章 敏感度分析 66
7.1 分析結果 67
7.2 結果與討論 84
第八章 結果與討論 89
8.1 運動分析結果 89
8.1.1 數值運算 89
8.1.2 電腦模擬 92
8.1.3 比對結果 92
8.2 力量分析結果 94
第九章 實體模型 97
9.1 模型設計 97
9.1.1 層排列設計 98
9.1.2 伸縮螺桿設計 99
9.1.3 桿件設計 101
9.2 實體軌跡實驗 104
9.2.1 實驗流程 104
9.2.2 結果與討論 107
第十章 結論與建議 110
10.1 結論 110
10.2 建議 112
參考文獻 114

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