| Summary: | 碩士 === 國立成功大學 === 機械工程學系碩博士班 === 91 === The aim of this work is to conduct a comprehensive study on electric step-climbing devices on the basis of their design concepts. First, according to functions of the mechanisms used in various step-climbing devices, seven subsystems are categorized: the walking device, the transmission device, the brake device, the drive, the structure frame, the control system, and the other devices. Their functions and design considerations are also presented. Then, available products and patents are searched and collected to classify step-climbing mechanisms into four types of motions: the motion of step-climbing obstacle, the motion of following obstacle, the motion of mounting obstacle, and other types of motion. Among them, the motion of step-climbing obstacle is selected as the research topic and the existing mechanisms are analyzed in detail. From the analysis results, a procedure for the conceptual design is proposed with design requirements and constraints properly defined. Following the procedure, we can generate the conceptual design of each subsystem and then synthesize six feasible results. One optimum concept is selected to conduct the subsequent kinematic design, force analysis, and detailed design. Then, a solid model is developed and a prototype of this step-climbing mechanism is built and tested. Finally, some suggestions to improve the design are presented.
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