以馬達為動力源之機構的研究，在伺服馬達速度控制不靈敏的條件下，使用等速旋轉的馬達為主，當輸出桿件的運動特性要求不同時，往往必須重新設計機構。由於伺服控制理論的成熟及馬達的發展，可透過設計變轉速輸入的方法，達到同一個機構不同輸出的特性，解決重新設計機構及尺寸的複雜性，變轉速相關的研究已證明其可行性，但並沒有明確探討各個馬達的優劣與選擇方式。因此，本研究以具滑塊為輸出件的連桿機構為設計實例，藉由設計出的轉速曲線，建立其選用馬達的方式與流程，並針對選用的馬達得出可行的最佳減速比。
首先分別推導四桿曲柄滑塊機構、瓦特六連桿機構，以及史蒂芬森六連桿機構的運動方程式與扭矩方程式。接著，提出針對機構輸出的特性，定義其目標函式及限制條件，得到各個機構的轉速設計實例。其後，建立馬達選用的方式與可行減速比範圍的判定法，將轉速設計的實例應用在馬達選用的方法，並以兩個例子判定多顆馬達於選用時的優劣比較，驗證了馬達的選用方式。

In the research of mechanisms with a motor as the power source, under the condition that the speed control of servo motors is not sensitive, a motor that rotates at a constant speed is mainly used. When the motion characteristics of the output member are different, the mechanism must be redesigned. Due to the maturity of servo control theory and the development of motors, it is possible to achieve the characteristics of different outputs of the same mechanism by designing variable-input-speed methods, solving the complexity of redesigning the mechanism and size. Research on variable speed has proved its feasibility, but did not explicitly discuss the pros and cons of motors and the selection method. Therefore, this work takes the linkage mechanism with an output slider as the design example, and establishes the method and process of selecting motor based on the designed speed curve, and obtains the best feasible reduction ratio for the selected motor.
Firstly, the work derives the motion equations and torque equations of the four-bar slider-crank mechanism, the Watt six-bar linkage mechanism, and the Stephenson six-bar linkage mechanism. Then, according to the characteristics of the output of the mechanism, the objective function and constraints to obtain the speed curve of each example are defined. Afterward, the method of selection of motor and determining the feasible range of gear ratio is established. Finally, the method is applied in two examples and the selection method is verified.

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