在人類運輸的歷史中，輪子佔有重要的一席之地。因為輪子有傳動效率直接與運動平穩等優點；但在崎嶇不平的地形、起伏較劇烈的環境上，輪子就不能發揮作用。所以，現今有些人會設計仿生的彈跳鞋，來幫助人在崎嶇的地面上能奔跑自如；但是，現行的設計仿生鞋設計都是機構固定的類型，若能利用連桿設計出可變換角度之機構，就能使仿生鞋具有收納與展開的構型。
在製造容易與成本考量因素下，本文將選擇連桿機構作為研究方向，並對六連桿機構進行尺寸合成，利用連桿機構具有的肘節效應的特點，再對設計上的精準點進行分類與討論。合成方式會以函數生成理論為基礎，將六連桿機構簡化後利用向量迴路、三個精確位置等方式求得α-β解答平面，並利用電腦輔助找出適當的連桿尺寸，以求得連桿機構最適合的設計。
利用上述的方法，針對於現行的仿生鞋設計改良。利用連桿與主體機構的角度作為拘束條件，並在其整體設計的範圍內選擇適合的傳動角範圍與桿長比；並考慮肘節機構的機械利益分析，使整體連桿保持良好的自鎖性。達到改善現有仿生鞋的目的。

In the history of human transportation, the wheel plays an important role. Although the wheel has some advantages such as great transmission efficiency and smooth movement, it will be useless when it met with rough road. As a result, some people will design bionic boot to make people can jump and run on the rough road comfortably.

However, all of the design of bionic boot is fixed-mechanism. If we can use linkage mechanism to design an angle-changeable mechanism, then we can make the bionic boot has storage and unfold two different shape.

Consider the factor of manufacturing and cost, this paper will choose linkage as the direction of research. Using dimension generation to synthesize six-bar mechanism, and take advantage of linkage mechanism with toggle effect, then have some discussion and classification of precise points on our design. The method of synthesize will based on function-generation theory, we will use vector loop and three precise points to figure out α-β-solution-plane after six-bar mechanism be simplified. And finding out appropriate linkage dimension to figure out the most appropriate linkage mechanism design by computer-assistant.
In the view of the above –mentioned method, we can have a redesign to current bionic boot. Using the angle between the linkage and main-part mechanism as the constraints, and also consider the appropriate transmission angle and link ratio. In the end, considering the toggle mechanism and analyzing mechanical advantage to make sure the whole linkage has great self-locking-ability, so it may improve the current bionic boot.

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