| Summary: | 碩士 === 國立成功大學 === 機械工程學系 === 87 === An 8-link type walking horse consists of a walking machine with four identical leg mechanisms and a carriage for balancing. Each leg is an 8-bar linkage with 10 joints and with one degree-of-freedom. The intention of this work is to design an 8-link type walking horse with optimal foot trajectory and minimum driving force. Base on Yan''s creative mechanism design methodology, 117 specialized 8-bar linkages are generated systematically. Then, the atlas of feasible mechanisms is identified based on the method of characteristic numbers. The foot trajectory is obtained by kinematic analysis according to vector loop approach. An ideal foot trajectory is decided by referring to Wang-Chien''s wooden horse carriage and the principle of knee-joint-temporary-lock. Mathematical models of force analysis and mechanical advantage analysis are derived. Optimal dimensions for each leg mechanism are synthesized based on Augmented Lagrange Multiplier method with conforming to the ideal foot trajectory as the main objective and achieving minimum driving force required to push the walking horse as the second objective. Then, the kinematic performance of the 4-link, 6-link, 8-link, Wang-Chien, Chiu-Cheng-Ping, and Hwang-kai type walking horses are evaluated. As a result, the proposed 8-link type walking horse is the best regarding the characteristics of foot trajectory and the bionic; however it is worse than Wang-Chien and Chiu-Cheng-Ping type walking horses regarding the performance of the driving force and mechanical advantage. Finally, a computer simulation software is developed and a prototype is built. The results show that the designed 8-link type walking horse can achieve the required motion characteristics.
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