在現代化的技術中，飛行器的研究已經從已有的固定翼和旋轉翼進入到模仿自然界生物動作的拍動翼，過去30年來，愈來愈多的研究團隊與大學機構紛紛投入此領域的研究。
本研究基於鳥類和昆蟲的飛行機制和空氣動力特性做一探討，並在特殊飛行機制中選定具轉動之拍動功能，使用工程設計方法訂定設計目標，提出了五連桿機構達成具轉動之拍動動作。利用向量迴路法進行尺度合成與運動分析，並將尺寸進行最佳化後，得到與目標轉動角度平均誤差為10.3°的結果。再分析連桿的旋轉接頭間隙所造成的機械誤差對本研究之機構的影響，得到位移輸出的最大誤差值為55(μm)，角位移輸出的最大誤差值為0.89°。為求其穩定性，機構所具有的兩滑動面分別採用半圓和凹槽與鳩尾滑槽和鳩尾滑塊的方式，並在各旋轉軸上裝配軸承，完成最終機構的設計，並經由力學分析評估馬達的選用及探討摩擦力對輸入力矩的影響，得到在拍動頻率15Hz以內，摩擦力的影響不會超過20%，但若拍動頻率愈高，則影響愈大。最後將機構進行動力平衡之改良，在x與y方向的搖撼力分別改善約44%與30%，提出新型的具轉動之拍動機構。

In the modernized technology, the research of aircraft has developed from a fixed wing to a rotary wing, which imitates the flapping wings of natural creatures. In the past 30 years, more and more research teams and university organizations have involved in this research area.
This thesis is to investigate the flight mechanism and aerodynamic performance of the bird and insect by selecting the mechanism that is able to rotate and flap from the special flight mechanism; objectives are set by adapting engineering design, and five-bar linkage mechanism is proposed to achieve rotary and flapping motion. Dimensional synthesis and kinematics analysis are analyzed by the adaptation of vector loop method; after the optimization of the measurement, the average error of the angle of rotation 10.3° will be obtained. Furthermore the mechanical errors caused by the linkage of revolute joints between the mechanisms are analyzed while the largest error of 55(μm) of the displacement output and the largest error of 0.89° of the angular displacement output will be obtained. To ensure the stability, the semi-circle, notch, dovetail slot, and dovetail slider are respectively adapted between two sliding surfaces of the mechanical, and bearings are attached on rotary shafts as the final mechanism design. Through the mechanical analysis to evaluate the selections of the motors and to investigate the effect that caused by the friction towards the input torque to achieve the results of the flapping frequency that is within 15Hz, and the frictional effect that is not more than 20%. As the higher the flapping frequency gets, the larger the frictional effect will become. In the end, the improvement of the dynamic equilibrium will be made, as the shaking forces in the direction of x and y are improved 44% and 30% respectively, the new model of the rotary flapping mechanism will be proposed.

論文審定書 i
誌謝 ii
摘要 iii
Abstract iv
目錄 vi
圖次 viii
表次 xii
符號說明 xiii
第一章 緒論 1
1.1 研究背景 1
1.2 研究動機 2
1.3 文獻回顧 4
1.3.1 拍動飛行原理 5
1.3.2 拍動運動之空氣動力特性 7
1.3.3 具轉動之拍動運動 9
1.3.4 拍動翼機構設計 10
1.3.5 具轉動之拍動機構設計 14
1.4 研究目的 17
1.5 論文架構 18
第二章 設計與分析方法 19
2.1 創造性設計方法 19
2.2 最佳化方法 21
2.2.1 差分演算法 21
2.2.2 差分演算法之改良 22
2.3 機械誤差分析方法 23
第三章 具轉動之拍動機構設計與分析 24
3.1 基本需求與設計限制 24
3.2 具轉動之拍動機構設計 24
3.3 尺度合成 32
3.4 尺寸最佳化 40
3.5 機械誤差分析 45
3.6 最終機構設計 54
3.7 力學分析 62
3.7.1 材料選擇 63
3.7.2 輸入力矩及摩擦力影響探討 65
3.7.3 動力平衡探討 75
第四章 結論與未來展望 82
4.1 結論 82
4.2 未來展望 83
參考文獻 84

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