本文主要研究機械狗之腿部機構，進行創新機構設計，包含介紹現有之機械狗並進行分析與簡單動作模擬，再創新設計新型機械狗腿部機構。之後以3D繪圖軟體Pro/Engineer建構實體特徵，並由有限元素分析軟體Visual Nastran進行運動模擬。
此新型機構各腿各由一組具有兩個自由度的五連桿與平行連桿機構所組成。先由生態學的觀點出發，並利用攝影擷取真實狗的步行路徑。再利用本研究所發展之電腦程式轉換成馬達參數，並利用Visual Nastran做動態電腦模擬。結果顯示所設計之機械狗，確實能完成慢速穩定步態之行走動作。

The purpose of this study is to design an innovative mechanism for robot dog's legs, including analyzing the existing commercial robot dogs, modeling the characteristic of entity by Pro/Engineer, and simulating the mechanism by Visual Nastran.
The leg designed in this study is a five-bar linkage with pantograph mechanism. This leg mechanism has two degrees of freedom. In order to control the motion of legs easily, a method which converts the locus of movement into the control parameters of motor is introduced by analyzing the mechanism of the robot dog's legs. The result of computer simulation shows that the designed mechanism can achieve slow movement smoothly. The gait of the designed legs is based on the motion pictures of a real dog. The movement of legs of the designed robot dog is then simulated by computer program involved Visual Nastran and then compare to that of a real dog.

謝誌 Ⅰ
目錄 Ⅱ
圖目錄 Ⅲ
表目錄 Ⅴ
摘要 Ⅵ
Abstract Ⅶ
第一章 緒論 1
1.1 研究背景 1
1.2 文獻回顧 2
1.3 論文架構 7
第二章 機械狗的介紹 8
2.1 機械狗之介紹 8
2.2 機械狗之運動機構 10
2.3 步態理論 10
第三章 機械狗機構設計與動作設計 18
3.1 研究方法與步驟 18
3.2 創新機構設計之步驟與方法 24
3.3 座標分析 38
3.4 步行動作設計 44
第四章 機械狗傳動機構之模擬分析 49
4.1 真實狗步態軌跡擷取 49
4.2 仿真實狗步態模擬 53
4.3 設計軌跡模擬 57
第五章 結論與建議 67
參考文獻 69

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