雖然現今的移動載具主要以車輪的方式行進，但步行機械更能適應不規則地形。本研究提出了一種步行機械，可分成三部份，包含腿部機構、地形感測器與步態調整機構。在第一部分中，利用現有的腿部機構實現跨越與踏步運動，並產生不相交的封閉軌跡包含跨越段與支撐段，在第二部分中，地形感測器為一種機械裝置，遇到障礙物時可將碰撞障礙物產生的運動輸入傳遞至後方的致動器。另一個致動器連接到腿部機構，驅動腿部機構抬升至相應的高度以跨過障礙物。本研究透過創意性機構設計方法產生一種可行的感測機構。利用幾何約束方法進行尺寸參數設計，藉由向量迴路法計算角位置與角速度。此外，為了確保輸出力足以驅動致動器，通過自由體圖和能量法進行力分析。在第三部分中，設計了一對特殊的變速齒輪並安裝於腿機構的曲柄上。因此，在運動週期中的任意時刻，均至少有三隻腳支撐在地面上，藉此增加行走時的穩定性。透過分析障礙物高度、地形感測器的運動和腿部機構的足部軌跡之間的關係，得到步行機構的越障能力。並且，在一個運動週期內，腿部機構支撐段的時間比例從58%提高到75%。最後，利用原型機實驗結果的軌跡追蹤來驗證此新型設計的效果。

Although wheeled vehicles are the most widely used means of transport, legged machines are more adaptable across irregular terrains. This study presents a walking machine composed of three parts, namely walking mechanism, terrain sensor, and the speed adjustment mechanism. In the first part, an existing leg mechanism is used to achieve the stepping and striding motions, and a non-intersecting closed trajectory with span and support segments is generated. In the second part, the terrain sensor is a mechanical device that is able to transmit the input motion caused by the obstacle on the road to an actuator. With the other actuator connected to the leg mechanism, the foot is driven to reach the corresponding height for stepping across the obstacle. One feasible mechanism is generated through Creative Mechanism Design methodology. The dimensional synthesis is made by Geometric Constraint Programming, and the kinematic characteristics are analyzed through vector loop method. Moreover, in order to ensure the output force is large enough to drive the actuator, the force analysis is made through free-body diagram and energy method. In the third part, a pair of special gears with variable gear ratios are designed and attached to the crank of the leg mechanisms. Therefore, there are at least three feet supporting on the ground at any time in the motion cycle, and the stability can be increased when the four-leg machine is walking. As the result, the obstacle-crossing ability of the walking machine is obtained by analyzing the relationship between the heights of the obstacle, the motion of the terrain sensor, and the foot trajectory of the leg mechanism. In addition, the proportion of the supporting section is improved from 58% to 75% in a motion cycle of one step. Finally, the performance is verified by prototype testing with foot trajectory tracking.

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