本研究主要探討由膝關節運動觀察到之滾滑動運動，並以滾滑比作為分析機構滾滑動運動之參數，並提出由滾滑比參數進行滾滑動機構設計之方法。本研究主要包含兩部分，分別為滾滑動分析與滾滑動機構設計，首先對各家滾滑比定義進行文獻探討，整理出應用於機構設計之滾滑比定義，並對所使用之滾滑動相關公式進行修正，在機構設計方面則提出近似曲線與精確曲線之機構設計，由調整機構各參數可調整其滾滑比曲線使其近似於需求之曲線，而桿長可變化之機構則能產生與欲求滾滑比曲線精確符合之機構。

This work is initiated from an observation of the rolling-sliding kinematic behavior observed in the motion of the knee joint. We use the slip ratio as a parameter to analyze the rolling-sliding properties of a mechanism, and also propose a method to design new mechanisms with specific slip ratio. In this research, we first verify the many definitions of the slip ratio, then modify a best definition to suit various rolling-sliding motions. Most importantly, we propose two types of rolling-sliding mechanism design. By changing the parameters of the mechanism, we can adjust its slip ratio curve to be close to a desired curve. In addition, when the idea of adjustable link length is used in the design of the mechanism, exact slip ratio curve as specified can be generated by the use of some cams.

目錄 i
圖目錄 iii
表目錄 vi
摘要 vii
Abstract viii
第一章 緒論 1
1.1 研究背景與動機 1
1.2 研究目的與方法 5
1.3 論文架構 6
第二章 滾滑動運動與滾滑比 8
2.1 滾滑動運動 8
2.2 滾滑比(Slip ratio) 12
第三章 滾滑比定義修正與分析 16
3.1 滾滑比定義修正 16
3.2 分析與比較 21
第四章 產生近似曲線之滾滑動機構設計 26
4.1 滾滑動機構與所產生之滾滑比曲線分類 26
4.2 調整機構各參數對於滾滑比曲線之影響 28
4.3 設計方法與例子 32
第五章 具精確滾滑動特性之機構設計 36
5.1具可調整桿長之機構與設計方法 36
5.2 設計實例 41
第六章 結果與討論 58
參考文獻 60
附錄 例一桿長數據(RB/RA=1) 64
附錄 例一桿長數據調整前(RB/RA=2.5) 65
附錄 例一桿長數據調整後(RB/RA=2.5) 66
附錄 例二桿長數據調整前 67
附錄 例二桿長數據調整後 68
附錄 例三桿長數據調整前 69
附錄 例三桿長數據調整後 70

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