在自動化工業領域中，廣泛的應用伺服馬達與一系列的傳動機構，將馬達旋轉動能傳遞到各個零件，故在各個傳動機構上之運動行為係相關人員必需要探導的部分；然而，傳動機構之運動解析係歸類為機械相關科系的專業，需要有「運動學、機動學…等等」知識背景方能推導出其運動關係，也因此對於其他非機械相關科系背景的人來說門檻較高。因此，本論文提出一套基於疊加原理(Superposition)的概念下，針對三端口(Three ports)傳動機構，行星齒輪組、差速器、指南車與同心式磁性齒輪，將其複雜之運動關係利用控制方塊圖解析。如此一來，不僅能讓非相關背景之人員僅需透過基礎物理觀念，並依照所提出之方法步驟，便能迅速得出各機構之間複雜的運動關係，以及直觀地看出各零件之間耦合的物理關係，省略過去需要花時間去重新學習相關機械知識背景的負擔，降低非相關科系背景人員之門檻。

This paper proposes a kinematic analysis method for three ports mechanism using the block diagram technique, which is based on the principle of superposition.
Since the kinematic relationship of these tree ports mechanism is linear, we can separate the components of the mechanism to several parts and discuss their kinematic relationship independently then combine them after obtaining their kinematic block diagram according to superposition principle. Therefore, this paper applies this technique in planetary gear set, differential, south pointing chariot, which is a two input ports differential system, and coaxial magnetic gear, to obtain the kinematic block diagram. With the block diagram, system can be easily analyzed by implementing analytical approaches, such as Mason’s rule or sensitivity analysis or can easily obtain the physical quantity relationship in it.
Furthermore, this paper also takes the planetary gear set as a case study to plot the static equilibrium relationship of block diagram. Due to there are two static equations of the planet gear, one is the force equilibrium equation, and the other is the torque, we can obtain the torque relationship block diagram with two nodes. With this block diagram, we can not only use Mason’s rule to obtain the transfer function from different input and output, but also analyze the relationship of each node.

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