影響研磨與去毛邊對物體表面品質差異的關鍵原因為是否保持定接觸力於刀具與物體間，如何有效且精確地達成定接觸力之力量調控是門重要的課題。目前自動化工廠中在研磨刀具上裝置多軸力感測器提供力量回授資訊以控制接觸力，使得機器手臂須不斷修正研磨路徑以保持研磨刀具與物體間的定接觸力，然而此種方式不僅耗時且增加了研磨系統的複雜度。因此順應性研磨刀具與主動式氣動法蘭裝置開始應用於研磨系統中，不須改變機器手臂的路徑規劃，藉由刀具的位移即可順應物體表面的幾何外型同時輸出定力，然而順應刀具以偏擺達成二維順應位移而減少與物體的接觸面積且主動式氣動法蘭僅能達成一維的順應。因此本論文延伸零勁度機構的概念，設計一新型可調被動式二維力量控制機構，機構置於機器手臂與物體之間並可安裝任一刀具，機構不需裝配感測器即可取代精密控制之主動控制系統，達成降低成本、提升可靠度之需求，同時於機構操作區間中提供恆與刀具位移方向相對之可調徑向定接觸力輸出。
本論文利用正負勁度疊加的方式設計零勁度機構並以平面彈簧達成在有效空間中高勁度及高壓縮量的需求；此外，透過壓縮彈簧的配置實現徑向方向的零勁度機構及徑向預載的調整使得在操作角度範圍內減少定力大小誤差；接著建立彈簧數學模型，對參數進行最佳化設計，使得輸出力量波動最小，具有力量穩定的特性。最後，將理論分析結果輔以模擬軟體驗證其合理性，加工製造力量控制機構實體進行實驗驗證其力量調控之可行性，並建立動摩擦力數學模型與探討動摩擦力對機構輸出力影響，期許設計新型力量控制機構能提供工業二維穩定力量調控之解決方案。

Controlling the contact force on workpieces has been a challenging task for industrial grinding/deburring operations. Its realization often requires a grinding spindle with a multi-axis force sensor and controller feedback. The use of sensors and control is costly and introduces extra complexity for grinding tools. To improve the polishing quality of handling workpieces of irregular contours, this paper presents a novel force regulation mechanism (FRM) to be installed on grinding tools. FRM can produce an almost invariant oUJpUJ force over a limited range of inpUJ displacement. WithoUJ using additional sensor and force controller, adjustable FRMs can passively produce an adjustable constant oUJpUJ force to interact with the working environment. In the literature, one-dimensional FRMs have been developed for various applications. This paper presents the design of a novel FRM that can produce adjustable constant force in two dimensions. Because an adjustable constant force can be produced regardless of its radial direction, the proposed adjustable FRM can be used in applications that require two-dimensional force regulation. In this paper, the design formulation and simulation results are presented and discussed. Equations to minimize the oUJpUJ force variation are given to optimally choose the design parameters. A prototype of the two-dimensional FRM is tested to demonstrate the effectiveness and accuracy of adjustable force regulation. This novel FRM is expected to be used in machines or robots to interact friendly with the environment.

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