本論文主要是針對電腦輔助設計中組裝條件轉換至運動學分析時，所產生之多餘拘束條件消除法的探討。本論文主要乃是使用接頭本身所具有的特性，來消除經由直接轉換成拘束條件所產生的多餘拘束條件。
本論文概分為三個部分：一、接頭與基本拘束方程式的形成；二、組裝條件與接頭的轉換關係；三、接頭法消除多餘拘束條件的方法；四、運動學分析方法。

This thesis describes the elimination method of redundant constraints when transforming all kind of mate conditions of the computer aided design to the corresponding constraints of the kinematics. We use the characteristics of the joints to eliminate the redundant constraints generated by the direct transformation method.
This thesis is composed of the following four parts: 1.Construct the equations of constraints and joints; 2.The relationships between the assemblies and joints; 3.The method of eliminating redundant constraints; 4.Kinematics analysis.

摘 要I
AbstractII
圖目錄IX
表目錄XIII
第一章 緒論1
1.1 研究動機1
1.2 文獻回顧3
1.3 章節摘要4
第二章 軟體架構及分析流程7
2.1 運動學分析系統架構圖8
2.2 運動學分析之位置、速度、加速度分析流程9
2.3 接頭的產生流程10
第三章 基本定義與相關理論介紹11
3.1 座標轉換（Coordinate Transform）12
3.2 空間中方位的描述方法（Orientation Representation）21
3.3 空間中基本拘束的表示法27
3.4 接頭之基本拘束的導出35
第四章 電腦輔助設計與運動分析軟體間之接頭轉換40
第五章 接頭轉換之多餘拘束條件的一次消除法77
5.1 圓柱形接頭之多餘拘束的消除79
5.2 轉動接頭之多餘拘束的消除81
5.3 傳送接頭之多餘拘束的消除84
5.4 固定接頭之多餘拘束的消除87
第六章驅動條件之拘束方程式92
6.1 驅動條件拘束95
6.2 絕對固定拘束101
第七章 位置、速度、加速度分析103
7.1 理論求解方法103
7.2 數值方法106
第八章 軟體介面介紹與例子舉證109
第九章 結論與展望115
參考文獻117

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