仿生是近年來各領域受矚目的議題，將自然界數億年來”所求得的解”運用到人造的產品上，使其發揮特殊的功能。以機械領域來說各種的仿生步行機、仿生飛行器、仿生魚等機器都有不少人在研究。但純粹以控制為手段的仿生機械需加裝大量的馬達、感測器，以至於成本的增加。
工業上對於某些固定的運動，會利用針對性的機構來達成。那針對生物不同的移動方式也可以利用機構來達到大量馬達才可達到的效果。目前網路、文獻中的爬行機構大部分皆以控制為手段來致動，本文嘗試以簡單的控制(單個或兩個馬達)加上適當的機構，使爬行機構能以仿蛇之蜿蜒前進來移動。本文從原理上分析了波形運動的前進原理，並模擬出與弦波十分吻合的機構，再對照實體與模擬結果，來證實該機構可以以弦波方式作動。

In recent years, bionics has been noticed by various fields. We hope to use the solution which was answered by natural evolution from billions of years to man-made products, and develop their virtues. In mechanics, a lot of people research bionic machines, like bionic walking machines, bionic birds, and bionic fishes and so on. By the way, bionic machine which is controlled by program needs lots of motors or sensors, so it will cost up.
In industry, if we need some kinds of cycle motions, we will use targeted mechanism to accomplish it. For different kinds of movements of creatures, we also can use mechanism to reach the effect as same as many motors can do. In recent years, most machines that show on the internet or literature worked by program control. In this thesis, we try to use simply control and adapting mechanism to make machine serpentine like snake. This thesis analyzed the forward theorem of the waveform. And we modeled a mechanism which is perfectly matched with sine wave. After contrast the real model and modeling, we proved that machine can move with sine wave.

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