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1、Chapter8WalkingMachinesStudiesandpublicationsonmodernwalkingmachinesappearedonlyinthelast100years.However,accordingtoancientChineserecords,walkingmachines,devicesthatmimicthehorseoroxusingmechanicallegs,mighthavebeencreatedbeforethetimeofChrist,especiallytheWoodenHorseCarriage(木車馬)ofLuBan(
2、魯般)around480BCandtheWoodenOxandGlidingHorse(木牛流馬)ofZhu-geLiang(諸葛亮)around230AC.Theseinventionsweretreatedasnovelties,andtheycanbefoundinliteraryrecordsbutwithoutsurvivinghardware.ThischaptersystematicallyreconstructsallfeasibledesignsofLuBan’swoodenhorsecarriagewithmechanicallegsthatmeetth
3、escientificandtechnologicalstandardsofthesubject’stimeperiod[1–6].Historicalbackground,literatureanddevelopmentofancientChinesewalkingmachinesarestudiedanddiscussed.Worksinvolvingrestorationarealsopresented.Finally,twoexamplesbasedondifferentdesignrequirementsandconstraintsareprovided.8.1L
4、uBantheManLuBan(魯般)(∼507–444BC),whoseoriginalfamilynamewasGong-shu(公輸),wasamastercarpenterandinventorintheStateofLuduringtheEraofSpringandAutumn(770–481BC).AlthoughbelievedtobeanativeofDunhuanginancientChina,thereisnodefinitereferencetohisancestralorigin[7].Accordingtolegend,LuBanwasnotfon
5、doflearningwhenhewasyoung,butwasenlightenedwhenhestudiedunderthescholarZiXia(子夏).Later,bycoincidence,hereceivedlessonsfromBaoLao-dong(鮑老董),andlearnedfinewood-carvingskills.BecausethefamilyofLuBanwasengagedinhandicraftsmanufacturing,hismajorprofessionbecamecarpentry,specializinginbuildingho
6、usesandmakingfurnitureandotherutilities.Sincetheworkingtoolsanddeviceswereprimitiveduringhistime,workhadtobedonemanually.Eachjobwasdrudgery.ButLuBanhada269270Chapter8WalkingMachinesmuscularphysique;hewasbright,andhisworkswererefined.Thehouseshebuiltwerestronganddurable,andthefurniturehemad
7、ewaselegant.Peoplenearandfarcametohimforcarpentrywork,andhewaskeptbusyallthetime.However,evenifbusinesswasgood,ifhecouldnotproduceontime,itwouldstillbeproblematic.LuBanthereforebeganinventingandimprovinghistools,includingthesaw,planningtool,drillandshovel,carp
