凡運動鏈無法以甘迺迪定理(Aronhold-Kennedy theorem)直接求出瞬心者，此運動鏈稱為具有運動不確定性(Kinematic indeterminacy)。本文針對具有運動不確定性機構提出一新穎的虛連桿(imaginary link)概念，在不改變機構自由度下增加一桿，發展一圖解法，透過虛連桿與其他連桿形成虛擬的四桿迴圈以求得具有運動不確定性機構瞬心，此圖解法稱為虛連桿法。針對某些特殊機構，虛連桿法可以結合Pennock的方法求得兩者皆無法求得的機構瞬心。

Kinematical indeterminate linkages are ones whose complete set of instant centers cannot be obtained graphically by the Kennedy’s theorem. This article aims to graphically obtained the solutions for some of such linkages, using a concept of introducing a imaginary link, while not altering the degree of freedom, called imaginary link method. It is also possible to combine this scheme with Pennock’s method to achieve greater applicability.

摘要 ix
ABSTRACT xi

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 3
1.3論文架構 5
第二章 六桿以下具有運動不確定性機構 7
2.1 四桿行星齒輪機構 7
2.1.1解析法 8
2.1.2 圖解法 10
2.2 四桿凸輪機構 12
2.2.1 解析法 12
2.2.2 圖解法 13
2.3 結論 15
第三章 基本理論 17
3.1 瞬心運算矩陣 17
3.2 基本六桿構形 18
3.3 找尋虛連桿角度的作圖法 20
3.4 接地桿的選擇 24
3.5 結論 26
第四章 範例 29
4.1 單蝴蝶機構 30
4.2 齒輪七連桿機構 36
4.3 齒輪九連桿機構 40
4.4 虛連桿法與 Pennock的方法結合 44
4.4.1 Pennock的方法 44
4.4.2 具有雙耦桿之齒輪九連桿機構 46
4.4.3 具有雙耦桿之十連桿機構 50
第五章 結論與建議 55
參考文獻 57
附錄 59

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