連桿機構的研究與發展已有相當長的一段時間，其中平面四連桿機構雖然是最簡單的連桿組，其基礎運動學理論是各類連桿組設計理論進一步研究與發展的重要基礎。大多的研究報告皆集中於標準的扭矩輸入曲柄驅動連桿形式，對於討論耦桿驅動四連桿機構之傳動性質的文獻則相對稀少。
傳動性質一直是機構設計上的重要指標，本文針對耦桿驅動平面四連桿機構提出「耦桿點曲線可傳動機械利益指標」(CCTMA)，於適應輸入狀況下探討其傳動性質的優劣。傳動性質與「耦桿點可傳動機械利益指標」的曲率、曲線長、形狀對稱性等有相關，本文針對CCTMA提出了WS曲線與WS角等定義，並且研究WS角對於WS曲線之影響。
對於耦桿驅動機構四連桿來說，其傳動性質和外力輸入點的位置及耦桿曲線的形狀息息相關，根據本文研究的結果(CCTMA分布圖)，可以提供此類型機構設計者設計時的參考，於設計初期即可利用簡易作圖法排除傳動性能低落的施力耦點，也可依照文中提出之步驟設計或改良出適合的耦桿驅動四連桿機構。

Linkage mechanisms have been investigated for ages. The characteristics of planar four-bar linkages, though most fundamental of all, have laid the theoretical foundation of research and advancement of other linkages. Most papers have focused only on the standard crank-driven, torque-input four-bars, leaving the coupler-driven, force-input types comparatively less studied.
Transmission performance is an important issue of mechanism design. In this thesis, an index that couples the coupler curve and the transmissivity of mechanical advantage for the coupler-driven, force-input four-bar is proposed. The new index, called the CCTMA, is used when its shape, length, curvature, and symmetry are inspected. A WS curve and a WS angle are also defined to facilitate the use and understanding of the CCTMA.
A straightforward procedure is also presented for designing coupler-driven, force-input four-bar linkages. The idea of the CCTMA is introduced into the design process to exclude input coupler points what have unsatisfactory transmission properties. This procedure is also valid for improving existing coupler-driven, force-input four-bar mechanisms.

摘要
Abstract
第一章 緒論1
1.1 文獻回顧1
1.2 研究目的與方法2
1.3 論文架構3
第二章 平面四連桿機構傳輸指標4
2.1 傳動角與可傳動性指標4
2.1.1 曲柄驅動四連桿之傳動角與可傳動性指標4
2.1.2 耦桿驅動四連桿之傳動角與可傳動性指標6
2.2 操控角與可操控性指標6
2.2.1 曲柄驅動四連桿之操控角與可操控性指標7
2.2.2 耦桿驅動四連桿之操控角與可操控性指標7
2.3 機械利益與可傳動機械利益指標8
2.4 力量傳輸指標9
第三章 圖解法探討各項傳動效益指標13
3.1 耦桿驅動四連桿機構的最佳施力方向13
3.2 耦桿驅動四連桿機構的靜力分析14
3.3 完全傳力耦點-效率點15
3.4 完全傳力耦點曲線-效率圓17
3.5 機械利益指標19
3.6 可傳動機械利益指標23
第四章 數學解析與程式分析探討各項傳動效益指標26
4.1 四連桿機構向量迴路26
4.2 數學分析最佳施力方向28
4.3 數學分析靜力平衡29
4.4 數學分析可傳動性指標與可傳動機械利益指標32
4.5 數學分析耦桿曲線33
4.6 程式分析各項傳動效益指標34
4.6.1 分析程式之操作介面34
4.6.2 程式分析可傳動性指標35
4.6.3 程式分析機械利益指標37
4.6.4 程式分析可傳動機械利益指標38
第五章 耦桿點曲線可傳動機械利益指標41
5.1 耦桿點曲線可傳動機械利益CCTMA之分析41
5.2 耦桿點曲線可傳動機械利益CCTMA之歸納43
5.2.1 固定瞬心線、Pole tangent、Pole normal44
5.2.2 CCTMA之歸納45
5.3 WS角對WS曲線對稱性之影響48
5.3.1 四連桿機構之分類48
5.3.2 WS角對WS曲線對稱性之影響50
5.4 各類四連桿機構與CCTMA分布55
5.5 數學解析與作圖法論證CCTMA58
5.5.1 固定瞬心線、移動瞬心線58
5.5.2 任意點之加速度59
5.5.3 反曲圓59
5.5.4 Euler-Savary方程式61
5.5.5 瞬心線曲率62
5.5.6 數學解析與作圖法論證CCTMA64
5.6 設計應用67
5.6.1 範例168
5.6.2 範例270
5.6.3 範例372
5.7實際例子分析應用75
第六章 結論與建議80
參考文獻81

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