本研究主要由解剖學探討肌肉對於人體運動的重要性，欲以肌肉特性設計機構。由於肌肉具單向施力的特性，與繩索抗拉力性質相似，因此以繩索為機件，並由各領域文獻整合肌肉特性，產生以肌肉特性設計之繩索機構，並對設計出機構進行運動分析與應用。本文以不同的運用方式將繩索機件用於機構中，由於不適用創造性設計中繩索一般化，因此結合書中多種機件一般化規則，定義繩索直接接觸一般化法，讓繩索直接接觸的使用法將可用於機構中，並透過創造性設計進行機構合成。

The purpose of this essay is to explore the importance of muscles about human motion from anatomy. Then, we will be able to establish the mechanism by muscular characteristic. Muscles include agonist muscle and antagonist muscle. The skeletons can only be moved by the contraction of muscles. That unidirectional force characteristic is just like the resistant tensile force of rope. The rope can be just tensioned, it can’t be pressured. The purpose of this essay tries to use unique method to apply the rope to the mechanism. The way is to use the input rod to contact the rope from lateral; then, the move of the input rod will force on the rope, resulting in the deformation and tension of rope. Therefore, the rope of two extremities of output rod will be moved. This above particular method is called direct contact of rope. In order to generate the generalized mechanical device of the rope mechanism, The essay defines the generalized rule of the direct contact of rope; thus, the rope mechanism can use create design of mechanism devices to proceed mechanism synthesis.

目錄...............................................................................................................I
圖次............................................................................................................III
表次............................................................................................................VI
摘要.......................................................................................................... VII
Abstract .................................................................................................. VIII
第一章緒論................................................................................................ 1
1.1 肌肉之介紹與研究動機................................................................ 1
1.2 創造性設計.................................................................................... 5
1.3 研究目的........................................................................................ 6
第二章 繩索機構之產生............................................................................ 7
2.1 以繩索仿生肌肉單向施力之特性................................................ 7
2.2 相關文獻之特性整合.................................................................... 9
2.3 側向施力的繩索機件.................................................................. 13
2.4 繩索機構之外形.......................................................................... 16
第三章 以肌肉特性設計之繩索機構運動分析...................................... 19
3.1 繩索機構之運動公式.................................................................. 19
3.2 運動公式之特殊情況.................................................................. 26
3.2.1 輸入桿作動特殊情況....................................................... 26
3.2.2 相切特殊情況................................................................... 28
3.3 輸出桿之自旋運動...................................................................... 29
3.4 運動分析...................................................................................... 30
3.5尺寸參數改變之運動分析比較................................................... 33
3.5.1 調整尺寸R1的比較........................................................ 34
3.5.2 調整尺寸R2的比較........................................................ 36
3.5.3 調整尺寸Z的比較........................................................... 39
3.5.4 運動分析總結................................................................... 41
3.6以肌肉特性設計之繩索機構之應用........................................... 42
第四章 繩索直接接觸一般化.................................................................. 46
4.1 創造性設計方法流程介紹.......................................................... 46
4.1.1 現有設計之機構分析....................................................... 47
4.1.2 一般化................................................................................ 48
4.1.3 特殊化................................................................................ 54
4.2 繩索直接接觸之一般化.............................................................. 57
4.3 設計實例...................................................................................... 60
第五章 結論.............................................................................................. 65
Reference ................................................................................................... 66

References
[1] 游祥明，宋晏仁，古宏海，傅毓秀，林光華，解剖學，華杏出版股份有限公司，2008。
[2] 林春輝，家庭醫學圖書館骨骼、肌肉和關節，光復書局企業股份有限公司，1996。
[3] 簡基憲，彩色圖解解剖學，奕萱圖書出版社，2000。
[4] H. S. Yan and Y. W. Hwang, “The Generalization of Mechanical Devices,” Journal of Chinese Society of Mechanical Engineers, vol. 9, no. 3, pp. 191-198, 1988.
[5] 顏鴻森，機械裝置的創造性設計，機械工業出版社，2002。
[6] 許正和，創造性機構設計學，高立圖書有限公司，2006。
[7] 黃俊豪，“八桿十一接頭拍翼機構運動特性設計與實驗分析”，碩士論文，機械工程研究所，崑山科技大學，2010。
[8] 吳慶隆，“機構專利創新性迴避設計方法之建構”，博士論文，機械工程研究所，國立中央大學，2005。
[9] M. A. R. Freeman, “How the knee moves,” Current Orthopaedics, vol. 15, no. 6, pp. 444–450, 2001.
[10] D. I. Caruntu and M. S. Hefzy, “3-D Anatomically Based Dynamic Modeling of the Human Knee to Include Tibio-Femoral and Patello-Femoral Joints,” Journal of Biomechanical Engineering, vol. 126, pp. 44-53, 2004.
[11] L. E. DeFrate, K. W. Nha, R. Papannagari, J. M. Moses, T. J. Gill and G. Li, “The biomechanical function of the patellar tendon during in-vivo weight-bearing flexion,” Journal of Biomechanics, vol. 40, pp. 1716-1722, 2007.
[12] F. Lin, N. A. Wilson, M. Makhsous, J. M. Press, J. L. Koh, G. W. Nuber and L. Q. Zhang, “In vivo patellar tracking induced by individual quadriceps components in individuals with patellofemoral pain,” Journal of Biomechanics, vol. 43, pp.
67
235-241, 2010.
[13] L. Chen and L. Ren, “The Influence of Intrinsic Muscle Properties on Musculoskeletal System Stability: A Modelling Study,” Journal of Bionic Engineering, vol. 7 Suppl, pp. S158-S165, 2010.
[14] K.S. Aschenbeck, N. I. Kern, R. J. Bachmann and R. D. Quinn, “Design of a Quadruped Robot Driven by Air Muscles,” in: Proceedings of the IEEE/RAS-EMBS International Conf. on Biomedical Robotics and Biomechatronics, 2006.
[15] G. Tao, X. Zhu, B. Yao and J. Cao, “Adaptive Robust Posture Control of a Pneumatic Muscles Driven Parallel Manipulator with Redundancy,” IEEE/ASME Transactions on Mechatronics, vol. 13, no. 4, pp. 441–450, 2008.
[16] T. Takuma, S. Hayashi and K. Hosoda, “3D Bipedal Robot with Tunable Leg Compliance Mechanism for Multi-modal Locomotion,” IEEE/RSJ International Conference on Intelligent Robots and Systems Acropolis Convention Center, France, 2008, pp. 1097-1102.
[17] Y. M. Moon, “Bio-Mimetic Design of Finger Mechanism with Contact Aided Compliant Mechanism,” Mechanism and Machine Theory, vol. 42, pp. 600-611, 2007.
[18] 顏鴻森，吳隆庸，機構學，東華書局，2006。
[19] H. S. Yen and K. H. Hsiao, “Structural Synthesis of Zhang Heng’s Seismoscope with a Rope-and-Pulley Mechanism,” Journal of the Chinese Society of Mechanical Engineers, vol. 29, no. 2, pp. 89-97, 2008.
[20] M. Krishnadev, M. Larouche, V. I. Lakshmanan and R. Sridhar, “Failure Analysis of Failed Wire Rope.” Journal of Failure Analysis and Prevention, vol. 10, no. 4, pp. 341-348, 2010.
68
[21] P. Fritzkowski and H. Kaminski, “Dynamics of a rope modeled as a discrete system with extensible members,” Computational Mechanics, vol. 44, no. 4, pp. 473-480, 2009.
[22] P. Fritzkowski and H. Kaminski, “Dynamics of a Rope Modeled as a Multi-Body System with Elastic Joints,” Computational Mechanics, vol. 46, pp. 901-909, 2010.
[23] U. Lugris, J. L. Escalona, D. DOpico and J. Cuadrado, “Efficient and Accurate Simulation of the Rope-Sheave Interaction in Weight-Lifting Machines,” Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics, vol. 225, pp. 331-343, 2011.
[24] 許智博，”具可同時平移與旋轉功能之樞紐器及其應用的掀蓋式電子裝置”，台灣核准專利，專利號:M433072，2012。