不同於既有飛躍抓枝機器人為參考猿猴交替抓握桿件的運動姿態進行設計，本研究主要以健身愛好者在橫梯間進行身體擺動然後手放開順勢抓握至下一目標桿之獨特運動姿態，藉此作為新型飛躍抓枝機器人之設計參考依據。本文以上述之飛躍握桿運動姿態為基礎建立一系列的動作流程，並假設在具推進力的情況下探討二連桿抓枝機器人欲成功完成此運動姿態於各階段所需滿足之設計參數為何。傳統的飛躍抓枝機器人研究皆僅藉由尾巴擺盪的方式累積能量進行飛躍，本研究於動態模擬中特別著重分析加入推進力後機器人的飛躍距離以及著陸姿態，並根據分析結果初步提出實作上可行性較高的推進裝置機械設計概念。機器人於飛躍期間因系統質量分布不均與滿足角動量守恆等因素，不可避免會產生身體姿態旋轉，如此將使機器人於著陸階段時的夾爪部份與目標桿的空間位置/姿態差異過大、實作上將無法成功抓握桿件。本研究亦探討飛躍期間進行身體姿態補償對於著陸階段機器人夾爪部件姿態調整的效果。經過模擬結果證實，若於飛躍期間加入身體姿態補償，搭配適當的推進力與設計參數選擇可獲得更遠的飛躍距離並同時保有良好的著陸姿態。

Unlike most existing ricochetal brachiation robots mimicking apes for locomotion
design, this research proposes a unique locomotion style by referring to the nimble movement between the handholds of horizontal ladder performed by fitness enthusiasts. Motivated by the aforementioned locomotion, a series of motion flow is established and a two-link brachiation robot including both swing phase and propelling force is adopted to investigate the required design parameters for the proposed robot ricochetal brachiation. Simulation analysis is conducted to analyze the effects of adding propelling force on the flight distance and in particular the landing posture and provide a conceptual mechanical design of propelling device mounted on the gripper as a reference for future implementation. The fact that undesired body posture inevitably occurs during the flight phase due to the imbalanced mass distribution and the law of conservation of angular momentum may deviate the gripper of the robot away from the target bar or produce inappropriate gripper orientation, greatly influencing the successful rate of gripper grasping at landing phase. In light of this, the study also discusses the effects of body posture compensation on the performance of the whole locomotion process. Simulation results reveal that the inclusion of body posture compensation in the flight phase and propelling force is able to further
enlarge the flight distance and maintain a benign landing posture with well-selected system design parameters. In the future a mechatronic design for this robot will be presented to further validate the feasibility of the proposed locomotion.

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