本論文針對特定之微型飛行器從事機構分析。此微型飛行器是由10個桿件，13個接頭所組成之連桿機構，機構自由度為1。機構之主要部分包含史蒂芬生第三型六連桿機構，此六連桿機構又包含瓦特四連桿直線機構。本文將此微型飛行器機構簡化後進行位置分析，簡化機構主要是由三個滑件曲柄機構組成，而滑件可以空心槽內之插銷代替。經由分析的結果找出簡化機構輸入桿運動範圍，輸出桿的角度範圍、輸出桿極限角度。並進行傳動角效率分析、與各個桿件的速度與加速度分析；接著，經由傳動角效率分析找出能夠產生較佳傳動角的輸入桿運動範圍。本文亦探討原機構中瓦特四連桿直線機構之近似直線的長度。

In this thesis an analysis is performed on a specific MAV, which is a linkage with 10 links and 13 joints, and has one degree of freedom. The main part of the mechanism is a Stevenson six-bar mechanism of type III that contains a watts four-bar straight line mechanism. To obtain analytical solutions, we simplify this MAV mechanism to a mechanism consisting of three slider-crank mechanisms. Analytical results include position of each link, ranges of motion of both the input and the output links, the extreme values of output angle, transmission angle, velocities and accelerations. The input ranges that may result in ideal transmission angle are also found. The straight line length produced by a Watt straight four-bar linkage is also discussed.

目錄	III
圖目錄	V
第1章緒論	1
1-1研究背景1
1-2研究動機及文獻回顧2
1-3微飛行器機構3
1-3-1 金探子微型飛行器機構之結構3
1-3-2 仿生蜂鳥微型飛行器機構之結構4
第2章機構分析5
2-1仿生蜂鳥機構分析5
2-1-1 簡化機構位置分析5
2-1-2 瓦特四連桿直線機構位置分析8
2-2簡化機構效率分析9
2-3瓦特四連桿直線機構之近似直線長度11
2-4簡化機構速度與加速度分析11
第3章結果與討論16
3-1空心槽中插銷的範圍Cy16
3-2輸出桿的極限位置19
3-3拍翼角度的範圍21
3-4能夠產生較佳傳動角之插銷運動範圍22
3-5簡化機構極限位置的加速度分析24
第4章結論及建議設計程序26
參考文獻	29
圖目錄
圖一金探子微型飛行器拍翼機構31
圖二仿生蜂鳥機構32
圖三史蒂芬生第三型六連桿機構33
圖四瓦特四連桿直線機構34
圖五簡化機構35
圖六簡化機構第一部分36
圖七簡化機構第二部分37
圖八簡化機構第三部分38
圖九簡化機構第二部分第二組解39
圖十簡化機構第二部分第一組解40
圖十一瓦特四連桿直線機構41
圖十二瓦特四連桿直線機構42
圖十三簡化機構傳動角μ43
圖十四最佳 長度44
圖十五情況1時空心槽中插銷的容許範圍45
圖十六情況2時空心槽中插銷的容許範圍46
圖十七情況3時空心槽中插銷的容許範圍47
圖十八情況1時拍翼角度的範圍48
圖十九情況2時拍翼角度的範圍49
圖二十拍翼角度第二組的解極值50
圖二十一拍翼角度第一組解的極值51
圖二十二有較佳傳動角μ的空心槽中插銷區間	52
圖二十三實際尺寸長度53

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