本研究經由觀察膝關節運動所得到的滾滑動運動特性為機構設計之靈感，並利用電腦程式建構出反平行四邊形連桿機構，並以三心定理與瞬心法速度分析求出所需之瞬心，藉由輸入桿與輸出桿所相對之瞬心線(Centrode)建構出兩個封閉輪廓，然後運用包絡線原理來變化瞬心線，並建構程式來模擬機構運動，然後運用滾滑動比公式來分析其運動特性。本研究主要分成兩個部分，其一為藉由改變三項設計參數(L2-P-RCR)來變化瞬心線，將瞬心線變化當作一個用來調整滾滑動比曲線之機構，並分析出四種滾滑動比之曲線特性。其二則以設定好的滾滑動比曲線設計出新機構，並提出一套完整的設計流程。

In this study, we observed knee motion rolling sliding motion characteristics. It inspires us to design our creative mechanism. We use a computer program to construct anti-parallelogram linkage. Then we use the theorem of three centros and velocity analysis by instant to identify instant center. We construct two closed contours by corresponding input and output link of centrode. Then we use the theory of envelope offset centrode, and used the program to create animation to simulate the motion of mechanisms. We use the slip ratio formula to analyze rolling-sliding characteristics. The study is divided into two parts, one is by changing the three design parameters (L2-P-RCR) to change the centrode, as used to adjust the slip ratio curve. And we find four slip ratio curve characteristics. The other part is by setting a slip ratio curve to design new mechanism. Finally, we propose a method to design new mechanisms with specific slip ratio.

目錄 i
表目錄 iii
圖目錄 iv
摘要 viii
Abstract ix
第一章 緒論 1
1.1研究動機與目的 1
1.2 文獻回顧 2
1.3 研究方法 9
1.4 論文架構 10
第二章 建構反平行四邊形連桿機構與瞬心線 11
2.1 建立四連桿機構之模型 12
2.2 求四連桿機構的瞬心 15
2.3 建立四連桿機構之瞬心線 22
第三章 變化瞬心線之機構設計與滾滑動運動分析 25
3.1 包絡線原理 25
3.2 接觸點之法線 27
3.3 包絡線法之偏移瞬心線 28
3.4 變化包絡線之滾子圓半徑 31
3.5 滾滑動運動分析 33
3.6 滾滑動比曲線之討論 44
第四章 參數變化瞬心線之進階分析 46
4.1 調整基準桿長之滾滑動比分析 46
4.2 調整桿長比例之滾滑動比分析 49
4.3 調整滾子圓半徑之滾滑動比分析 58
4.4 機構特性討論 69
4.5 機構分析流程 71
第五章 滾滑動比參數之機構設計 72
5.1 滾滑動比之設計參數與限制方程式 72
5.2 機構設計流程 76
5.3 機構設計範例 77
第六章 結論與建議 84
參考文獻 86

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