本研究試圖將一種特殊的運動模式滾滑動運動，設計至機構上，並以滾滑比參數分析滾滑動運動，且提出滾滑動機構設計方法，配合Complex Method進行最佳化問題求得最佳化滾滑動機構。首先為了分析滾滑動運動的完整性，須對滾滑比定義作蒐集與探討，從中整合適合本研究的滾滑比定義，本文提出一套方法定義最佳化問題中符合設計目標的目標函式以及限制條件，配合Complex Method搜尋各個參數最理想的尺寸。因此欲求的滾滑比曲線每一點將對應到不同的四連桿機構，透過可調整桿長之滾滑動機構，合成出可產生準確的滾滑動特性之機構。

This study designed a special rolling-sliding kinematic movement on four bar mechanism. Moreover, rolling-sliding mechanism with slip ratio as a parameter has been investigated. The procedure was determined by studying numerous previous rolling-sliding researches.
After selecting the slip ratio, this study proposes a method to define objective functions that we want to design. We employed Complex Method to determine the optimum values of each parameter for four bar linkage mechanism. Several four bar linkage mechanisms were used to prepare slip ratio curve.
The experimental results demonstrate that the proposed method can produce an accurate rolling-sliding -behavior mechanism.

目錄 i
圖次 iv
表次 vii
摘要 viii
Abstract ix
第一章 緒論 1
1.1研究背景 1
1.2研究動機 3
1.3 研究方法 3
1.4 研究目的 4
1.5 論文架構 4
第二章 滾滑動運動與滾滑比 6
2.1 滾滑動運動 6
2.2 滾滑比(Slip ratio) 9
第三章 最佳化方法 14
3.1 最佳化方法理論 14
3.1.1 Simplex Method 14
3.1.2 Complex Method 17
第四章 研究方法 20
4.1 本研究滾滑比定義 20
4.2具滾滑動特性機構 21
4.3設計方法 23
4.4設計目標 24
4.5最佳化問題 24
4.6.1最佳化問題之目標函數 25
4.6.2 L4與θ4關係式f5(X)求法 25
4.6.3 L2與θ2關係式f6(X)求法 28
4.6.4最佳化問題之限制條件 28
4.7 設計流程 30
第五章 設計例子 31
例一 31
例二 42
例三 48
滾滑動機構模型 53
第六章 驗證 55
例一驗證結果 56
例二驗證結果 57
例三驗證結果 58
第七章 結果與討論 59
參考文獻 62
附錄 例一桿長數據最佳化前(RB/RA=1) 66
附錄 例一桿長數據最佳化(RB/RA=1) 67
附錄 例一桿長數據最佳化前(RB/RA=2.5) 68
附錄 例一桿長數據最佳化(RB/RA=2.5) 69
附錄 例二桿長數據最佳化前(RB/RA=1) 70
附錄 例二桿長數據最佳化前(RB/RA=2.5) 71
附錄 例二桿長數據最佳化前(RB/RA=4) 72
附錄 例二桿長數據最佳化(RB/RA=4) 73
附錄 例三桿長數據最佳化前(RB/RA=2.5) 74
附錄 例三桿長數據最佳化(RB/RA=2.5) 75

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