本文之主旨為設計單自由度六連桿，且構造簡單之步行機構。首先，拍攝人行走時足部所產生之軌跡曲線，並根據理想化軌跡之特性將軌跡曲線作一最佳化之修改。其次，根據反向運動學提出一種設計耦桿曲線之概念，推導出合成四連桿耦桿點軌跡曲線之解析方法，設計出一耦桿曲線近似理想化足部軌跡之四連桿機構。再次之，利用四連桿共生機構合成六連桿之概念，提出一種新設計方法，推導其解析步驟來進行尺寸合成，以得到一桿能平行移動之六連桿機構，並於該平移桿件上作一延伸桿相當於機構之腿部，而完成該設計。最後，提出一數值範例驗證本方法之可行性。

This thesis deals with the kinematic design of a single degree of freedom six-link walking mechanism. The desired motion trajectory of the foot is obtained from video recording of human gait. Based on inverse kinematics analysis and numerical nonlinear optimization techniques, a four bar linkage is first synthesized such that it would generate a coupler curve which is close to the desired trajectory. On the basis of this linkage and the concept of coupler cognate mechanisms, an analytical procedure is developed for synthesizing the six-link walking mechanism. In which the leg is designated to the link which produces parallel motion. A scale model based on the synthesized dimensions is made to verify the proposed design.

[1]Ono, K., Takahashi, R., Shimada, T., ”Self-Excited Walking of a Biped Mechanism”, The International Journal of Robotics Research ,12/2001
[2]黃庭偉，“機械狗腿部機構設計”，國立中山大學機械與機電工程研究所，2004年6月碩士論文
[3]American Honda Motor Co. Inc., “ASIMO: The World’s Most Advanced Humanoid Robot”, http://asimo.honda.com, 2005.
[4]B. C. Brown, “Design of A Single-Degree-of-Freedom Biped Walking Mechanism” , The Ohio State University Department of Mechanical Engineering, Undergraduate Honors Thesis, 2006
[5]C. Tavolieri, E. Ottaviano, M. Ceccarelli, A. D. Rienzo, “Analysis and Design of a 1-DOF Leg for Walking Machines” ,15th International Workshop on Robotics in Alpe-Adria-Danube Region June 15-17, 2006
[6]K. J. Waldron, and G. L. Kinzel, “Design of Mechinery” , John Wiley & Sons ,Inc., New York., 1999
[7]A. G. Erdman, G. N. Sandor and S. Kota, “Mechanism Design, Analysis and Synthesis” ,Vol. 1(4th ed.),Prentice Hall, pp. 119-120, 2001
[8]A. H. Soni, “Mechanism Synthesis And Analysis” ,Mcgraw-Hill, pp.97-101, 1974
[9]沈煥文，“八連桿型機器馬之機構設計”，國立成功大學機械工程研究所，1998年6月碩士論文。
[10]Alexander, “The Gaits of Biedal and Quadrupedal Animals” ,The International Journal of Robotics Research,Vol.3,No.2,Summer 1984
[11]李秉霖，“六連桿單暫停運動機構之合成”，國立台灣科技大學機械工程技術研究所，1995年6月碩士論文。
[12]李思賢，“雪地機車後懸吊機構之構造設計與尺寸合成”，國立台灣科技大學機械工程研究所，2006年6月碩士論文。
[13]N. P. Chironis,“Mechanisms and Mechanical Devices Sourcebook”,McGraw-Hill Inc., pp.110-113, 1991.
[14]R. S. Hartenberg & J. Denavit,“Kinematic Synthesis of Linkages”,McGraw-Hill Inc., pp.40-45, 1964.