本文之主旨為探討史帝文生型平面六連桿機構之運動分析。吾人針對機構運動倒置之特性，提出相對座標系統以定義各連桿之相對方位，並以解析法對其作位移分析。於位移分析之求解過程中，吾人發現史帝文生型機構依其驅動接頭所在運動迴路之不同，可簡化成兩種不同運動分析之機構，一種為驅動接頭位於四連桿之迴路，另一種為驅動接頭位於五連桿之迴路，此分析法可包含該機構由任意連桿為固定桿與任意接頭驅動之分析。於本文中吾人亦分別針對此兩種機構作死點位置與分支構形之探討。此外，並根據本文所提出之理論與方法，撰寫一史帝文生型機構之運動分析軟體，以驗證吾人研究之可行性。

This thesis deals with the computer aided kinematics analysis of Stephenson’s planar six-bar linkages. Based on the invariant properties of kinematics inversion, the analytical equations for displacement analysis of the linkage are developed by using the relative coordinates approach. Two analytical procedures for computing the output angles are developed in accordance to whether the driving joint is located within the four bar loop or the five bar loop of the linkage, and both procedures are independent to the choice of the fixed link. In addition, an in-depth investigation of the dead centers and branching configurations of the linkage are presented according to the different locations of the driving joint. An interactive computer program is developed based on the theoretical results of the above derivations and investigations.

第一章　 緒論…………………………………………………1
第二章　 位移分析……………………………………………5
2.1 座標系統定義……………………………………………5
2.2 迴路組合與方向選擇之準則……………………………7
2.3 迴路方程式………………………………………………13
2.4 驅動接頭在四連桿迴路之解析求解方法………………14
2.5 驅動接頭在五連桿迴路之解析求解方法………………22
第三章　 驅動接頭在四連桿迴路之分支與死點……………30
3.1 分支構形與判別準則……………………………………30
3.2 死點位置分析……………………………………………35
3.3 運動範圍…………………………………………………45
第四章　 驅動接頭在五連桿迴路之分支與死點……………50
4.1 死點位置分析……………………………………………50
4.2 分支構形…………………………………………………56
4.3 死點位置與運動範圍之數值求解方法…………………61
第五章　 電腦程式設計與範例………………………………64
5.1 電腦輔助分析之流程……………………………………64
5.2 驅動接頭在四連桿迴路之應用範例……………………69
5.3 驅動接頭在五連桿迴路之應用範例……………………88
第六章　 結論與建議…………………………………………100
參考文獻……………………………………………………… 101
附錄A　公式係數………………………………………………104
附錄B　公式係數………………………………………………118
附錄C　系統使用說明…………………………………………145
作者簡介……………………………………………………… 157

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