傳統上，劍桅式無梭織布機是使用變導程螺桿與一組曲柄滑塊機構來驅動劍帶輪完成緯紗緯入工作，然而變導程螺桿不僅外形設計困難，製造加工成本也較為昂貴，若需要更換螺桿或重新設計螺桿輪廓，則必須耗費許多成本。為解決使用變導程螺桿所帶來的設計與製造問題，本研究以等導程滾珠螺桿搭配變轉速輸入理論，使滾珠螺桿複合機構具備變轉速輸出特性，以符合紡織機引緯機構運動輸出的設計需求與限制。
首先推導滾珠螺桿複合機構的運動方程式，以及扭矩方程式，作為本研究之設計基礎；接著考量到輸出運動之連續性，使用Bezier曲線作為滾珠螺桿複合機構之輸入轉速函數，並透過最佳化設計方法，設計出一系列符合引緯機構設計需求與限制之轉速曲線。另外，利用商用軟體ADAMS模擬滾珠螺桿複合機構的運動與動力特性，並從模擬結果，驗證了理論設計之正確性。隨後，本研究建立一套伺服滾珠螺桿複合機構，控制伺服馬達產生設計之轉速輸入曲線，並利用量測元件讀取機構輸出的運動特性，最後從實驗結果，證實了變轉速滾珠螺桿複合機構應用於劍桅式無梭織布機引緯機構的可能性，並有效解決了使用變導程螺桿的缺點。

Traditionally, a rapier type shuttleless loom usually uses a variable-pitch screw mechanism and a slider-crank mechanism to drive a gear-wheel to complete the motion of the weft insertion. However, if a designer needs to replace the screw or redesign the contour of the variable-pitch screw mechanism, it is expansive in design and manufacturing. In order to solve the shortcomings by using the variable-pitch screw mechanisms, this work uses a constant-pitch ball-screw mechanism combining with the design concept of variable input speed to make the ball-screw compound mechanism achieve the characteristic of variable output speed, which also meets the design requirements and constraints of the output motion of the weft insertion mechanism.
Firstly, the equations of kinematic and dynamic characteristics for the ball-screw compound mechanism are derived as the foundation of design. Then, considering the continuity of motion, Bezier curve is used as the input speed function for the ball-screw compound mechanism. Based on optimal design, a set of input speed curves which meet the design requirements and constraints of the weft insertion mechanism are designed. Furthermore, the commercial software ADAMS is used to simulate the kinematic and dynamic characteristics of the ball-screw compound mechanism. The results of the simulation confirm the correctness of the design concept. On top of that, the results of the experiment established in this study prove the possibility of using the variable input speed control on this mechanism. Finally, the study shows the feasibility of application of the variable-input speed ball-screw compound mechanism on a rapier type shuttleless loom, which can solve the disadvantages of variable pitch screw mechanism.

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