近年來，根據橡膠軸承結構因受拘束時所產生之強烈結構剛性異向性行為等特性，逐漸引起研究撓性精密機械設計領域的學者之注意，並試圖引進橡膠軸承結構搭配精密機械設計與控制，藉以取代傳統撓性機構為主之精密機械控制。然而，橡膠材料之性質在不同的應用環境下，其特性亦有所差異，因此在應用上必須考慮材料的行為特性，所以需要針對橡膠材料發展相對應的材料測試系統。本文參考MIT的Barton等人所建立的材料測試系統之優點，並針對其缺點進行改良發展出新型雙軸式材料測試系統，得以對材料之機械性質作完善的測試。本文在雙軸式材料測試系統之製作部分，首先進行概念性設計，接著針對材料測試機構之次系統作設計。系統整合完成後，進行初步實驗驗證系統之正確性，並進行系統之性能分析，清楚掌握系統的操作性能。接著，本文以發展之雙軸式材料測試系統對PDMS和3110 RTV rubber進行機械性質測試實驗，用以測得材料的機械性質，包括楊氏模數、壓縮剛性與形狀因子、環境溫度、偏轉角度、作動頻率等參數之關係，以及材料的應力鬆弛行為與時間鬆弛常數和動態性能表現。另一方面，本文使用有限元素軟體ABAQUS針對目前實驗上無法定性定量探討之參數進行模擬分析，初步探討參數對材料性質之影響。模擬上主要針對橡膠軸承結構的幾何形貌、性質特性、邊界條件與負載形式等分別探討其與材料壓縮剛性之關係。模擬結果顯示非完美的橡膠軸承結構，例如內部含有氣泡、橡膠與金屬介面接合不完美、幾合不對稱等的橡膠軸承在壓縮剛性的表現上較理想之橡膠軸承為差。最後，本文使用雙軸式材料試系統進行測試實驗與有限元素模擬分析之結果，能提供工程應用中對橡膠軸承結構設計上的參考依據，未來希望能藉由對橡膠軸承結構其機械性質的了解，增加更多應用於精密機械的領域，例如精密定位平台設計與控制等方面之應用。

Elastomer bearings have been widely applied in seismic engineering and were recently introduced into precision machine design field. By using their stiffness anisotropy and simple structural design, elastomer bearings could possibly achieve the same function as that of those much larger compliance mechanisms and therefore this represents a possible advantage in precision machine design. However, the mechanical behaviors of rubbers are relatively complicated and must be carefully considered for precision machine applications and the existed testing systems may not be adequate and a novel elastomer testing system design should be investigated. In this thesis, based on the design proposed by Barton at MIT, a novel biaxial testing system is proposed and realized by integrating a voice coil actuator, a capacitive probe, a load cell, and a rotating stage under a simple temperature controlled environment. This system is then validated by comparing the PDMS punch test results with the previous reported data. Detailed characterizations have been conducted for exploring the performance of this system and identifying the key controlling factors for future performance enhancement. In parallel, essential finite element rubber compression and shearing analyses are also conducted for guiding the subsequent material testing and to elucidate the possible design and operation concerns for elastomer bearing operations. Finally, essential material characterizations are conducted for evaluating the behavior of structural stiffness at different shape factors, temperatures, loading types, and operating frequencies. By correcting the fundamental flaws of the design provided by Barton, this system represents a more sophisticated design for achieving more accurate material properties characterization in order to support subsequent precision motion system designs.

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