摘 要
傳統的日內瓦機構皆是以等轉速輸入，而改善其動力特性亦多以改變其機構本身之幾何形狀或是改變其輸入之機構來進行。若能藉由轉速函數之設計將曲柄以變轉速運轉，則將可多些設計上的自由度，使機構在不需改變尺寸之原則下，達到不同之運動特性要求。欲使此機構得以實現，必須進一步考慮到動力之要求，本研究的目的即在改善日內瓦機構之運動及運力特性。首先推導日內瓦機構之輸入與輸出桿件之運動特性方程式，作為運動分析之基礎。接著分析其輸入轉矩與磨耗大小。然後分別以最小化輸入轉矩、磨耗大小、及日內瓦輪之角加速度峰值三個不同之目標函數，設計出能同時滿足所需運動特性與降低動力問題之轉速函數，以不同槽數之日內瓦機構為設計實例，並討論其結果；其中，以三槽之日內瓦機構之動力特性改善效果最為明顯，而六槽日內瓦機構之動力特性亦有改善，但並不明顯。最後，設計與實作出一套伺服日內瓦機構之原型機測試系統，並利用一種可行的轉速控制方法，使得變轉速的理念在實務上得以付諸實現。

On the Study of Variable-Speed Servo-Geneva- Mechanisms
Pei-Jin Shie
Abstract
A traditional Geneva mechanism usually rotates at a constant speed, and the improvement of its dynamic characteristics is generally done through the changes of dimensions or input devices. But if the crank can be designed to rotate at variable-input-speed, it will be more flexible to conduct the design of the mechanism. By doing so, the requirements of different dynamic characteristics can be achieved without changing the dimensions of the Geneva mechanism. However, it is necessary to take the dynamic requirements into consideration to put this method into practice. This work aims to solve the problems of the kinematic and dynamic characteristics of Geneva mechanisms. First, kinematic relations between the input link and the output link of a Geneva mechanism are derived, and it can be the basis for motion analysis. After that, input torque and degree of wear are analyzed. Three different objective functions are designed to minimize the input torque, degree of wear, and the acceleration of the Geneva wheels, respectively. Then, an approach to the derivation of useful input speed trajectories is conducted to satisfy the kinematic characteristics and to reduce dynamic problem. This work provides Geneva mechanisms with different slots as the design examples and discusses the results. From these results, the dynamic performance of the Geneva mechanisms of three slots is improved obviously, and that of six slots is also improved but with less obvious effects. Finally, a prototype and the testing system of this servo-Geneva-mechanism is designed built and tested, which verifies the approach of this research. And to show the feasibility of this variable-input-speed method, a control algorithm which shows how this servo system works is also presented.

參 考 文 獻
Al-Sabeen, A. K., 1993, “Double Crank External Geneva Mechanism,” ASME Transactions, Journal of Mechanical Design, Vol. 115, pp.660-670
Bagic, C., 1977, “Synthesis of Double-Crank Driven Mechanisms with Adjustable Motion and Dwell Time Ration,” Mechanism and Machine Theory, Vol. 12, No. 6, pp. 619-638.
Butterfield, K. R., 1976, “The Computation of all the Derivatives of a B-Spline Basis,” J. Inst. Math. Appl., Vol.17, pp.15-25.
Callender, A., Hartree, D. R., and Porter, A., 1936, “Time Lag in A Control System,” Phil. Trans. Roy. Soc. London, Vol 235, No. 756, pp. 415-444.
Curry, H. B. and Schoenburg, I. J., 1966, “On Polya Frequency Functions IV： the Fundamental Spline Function and Their Limits,” J. Analyse Mat., Vol.17, pp.71-107.
de Boor, C, 1972, “On Calculating with B-Splines,” J. Approximation Theory, Vol.6, pp.50-62.
de Boor, C., 1978, A Practical Guide to Splines, Springer-Verlag, New York.
Dijksman, E. A., 1966, “Jerk-Free Geneva Wheel Driving,” J. Mechanisms, Vol. 1, pp. 235-283.
Dijksman, E. A., 1976, “Gear-Wheel Drive Geneva Wheels,” RevRoum. Sci. Techn-Me’c. Appl., Tome 21, No. 4, pp. 581-606.
Dubowsky, S. and Freudenstein, F., 1971a, “Dynamics Analysis of Mechanical Systems with Clearances, Part 1: Formulation of Dynamic Model,” ASME Transactions, Journal of Engineering for Industry, pp. 305-309.
Dubowsky, S. and Freudenstein, F., 1971b, “Dynamics Analysis of Mechanical Systems with Clearances, Part 2: Dynamic Response,” ASME Transactions, Journal of Engineering for Industry, pp. 310-313
Dubowsky, S., 1974a, “On Predicting the Dynamic Effects of Clearances in Planar Mechanisms,” ASME Transactions, Journal of Engineering for Industry, Vol. 96, No. 1, pp. 317-323.
Dubowsky, S., 1974b, “On Predicting the Dynamic Effects of Clearances in One-Dimensional Closed Loop Systems,” ASME Transactions, Journal of Engineering for Industry, Vol. 96, No. 1, pp. 324-329.
Fenton, R. G., 1965, “Charts Provide Quick Simple Method for Dynamic Analysis of Geneva Mechanisms,” Machine Design, Vol. 37, pp. 177-182.
Fenton, R. G., 1975, “Geneva Mechanisms Connected in Series,” ASME Transactions, Journal of Engineering for Industry, Vol. 97, pp. 603-608.
Fenton, R. G., Zhang, Y., and Xu, J., 1991, “Development of a New Geneva Mechanism with Improve Kinematic Characteristies,” ASME Transactions, Journal of Mechanical Design, Vol. 113, pp. 40-45.
Hall, A. S., Jr., 1981, Notes on Mechanism Analysis, BALT Publishers, Lafayette.
Hsu, M. H. and Chen, W. R., 1999, “On the Design of Speed Function for Improving Torque Characteristics of Cam-follower Systems,” Proceedings of the Tenth World Congress on the Theory of Machines and Mechanisms, Oulu, Vol. 1, pp. 272-277.
Hunt, K. H., Fink, N., and Mayar, J., 1960, “Linkage Geneva Mechanisms A Study in Mechanism Geometry,” Proc. Mech. Inst. Engrs., p. 174 and p. 643.
Jackson, L. B., 1991, Signals, Systems, and Transforms, Addison-Wesley, Reading, Massachusetts.
Johnson, R. C., 1956, “How to Design Geneva Mechanisms to Minimize Contact Stresses and Torsional Vibrations,” Machine Design, Vol. 28, No. 6, pp. 107-111.
Lee, H. P., 1998, “Design of a Geneva mechanism with Curved Slots using Parametric Polynomials,” Mechanism and Machine Theory, Vol. 33, No. 3, pp. 321-329.
Lee, T. W., 1981, “Optimization of High Speed Geneva Mechanisms,” ASME Transactions, Journal of Mechanical Design, Vol. 103, pp. 621-630.
Lichwitz, O., “Mechanism of Intermittent Motion,” Machine Design, Vol. 23 No. 12, Dec. 1951, pp. 134-148；Vol. 24, No. 1, Dec. 1952, pp. 127-182.
Minorsky, N., 1922, “Directional Stability of Automatically Steered Bodies,” Journal of American Society of Naval Engineers, Vol. 42, No. 2, pp. 280-309.
Rothbart, H. A., 1956, Cams: Design, Dynamics and Accuracy, John Wiley & Sons, New York.
Sadek, K. S. H., Lloyd, J. L., and Smith, M. R., 1990, “A New Design of Geneva Drive to Reduce Shock Loading,” Mechanism and Machine Theory, Vol. 25, pp. 589-595.
Tesar, D. and Matthew, G. K., 1976, The Dynamic Synthesis, Analysis and Design of Modeled Cam Systems, Lexington Books, New York.
Tompkins, W. J., 1993, Biomedical Digital Signal Processing, Prentice-Hall International, Inc.
Yan, H. S. and Fong, M. K., 1994a, “An approach for reducing the peak acceleration of cam-follower systems using a B-spline representation,” Journal of the Chinese Society of Mechanical Engineers (TAIWAN), Vol. 15, No. 1, pp. 48-55.
Yan, H. S., Hsu, M. H., Fong, M. K., and Hsieh, W. H., 1994b, “A Kinematic Approach for Eliminating the Discontinuity of Motion Characteristics of Cam-follower Systems,” Journal of Applied Mechanisms & Robotics, Vol. 1, No. 2., pp. 1-6.
Yan, H. S., Tsai, M. C., and Hsu, M. H., 1996a, “A Variable-speed Method for Improving Motion Characteristics of Cam-follower Systems,” ASME Transactions, Transactions, Journal of Mechanical Design, Vol. 118, No. 1, pp. 250-258.
Yan, H. S., Tsai, M. C., and Hsu, M. H., 1996b, “An Experimental Study of the Effects of Cam Speed on Cam-follower Systems,” Mechanism and Machine Theory, Vol. 31, No. 4, pp. 397-412.
Yang, A. T. and Hsia, L. M., 1979, “Multistage Geared Geneva Mechanism,” ASME Transactions, Journal of Mechanical Design, Vol. 101, pp41-46.
Yeaple, Frank, 1979, “Geneva Mechanisms for Indexing”, Product Engineering, August, pp.39-43.
Ziegler, J. G. and Nichols , 1942, “Optimal Settings for Automatic Controllers,” Transactions of the ASME, Vol. 64, 99. 759-768.
李學昌，1999年3月21日，快速立體停車庫，中華民國專利355002。
黃國饒，1992年4月，外齒型日內瓦輪分度機構之設計與製作，機械工業雜誌，Vol. 109，No. 4，pp. 21-220。
方銘國，1993年6月，多項式可變轉速凸輪運動曲線設計之研究，碩士論文，國立成功大學機械工程研究所。
白友中，1995年6月，凸輪機構之週期性轉速追蹤控制，碩士論文，國立成功大學機械工程學系。
謝和興，1998年6月，使用日內瓦機構之系統研究，碩士論文，國立台灣大學機械工程學系。
姚燕安，1999年1月，凸輪機構的主動控制，博士論文，天津大學機械工程學院。
陳維仁，1999年6月，具曲柄輸入滑件輸出變轉速連桿機構之研究，博士論文，國立成功大學機械工程學系。
顏國智，2001年6月，具負載變轉速伺服滑件曲柄機構之研究，碩士論文，國立成功大學機械工程學系。
陸蘇財，2001年6月，以變轉速驅動之有間隙日內瓦機構之動力解析與模擬，碩士論文，國立台灣大學機械工程學系。
卓志忠，2001年6月，日內瓦機構之最佳轉速規劃，碩士論文，國立台灣大學機械工程學系。
正文書局編譯委員會編譯，1975，機構學，正文科技文庫，台北。
朱越生，1975年，機動學，第二版，三民書局印行，台北。
張允昭，1978年，機械運動之機構，徐氏基金會出版，台北。
賴耿陽，1997年，自動機械機構學，復漢出版社，台南。
謝慶雄，1998年，機構學，第二版，高立圖書有限公司，台北。
顏鴻森，1999年，機構學，第二版，東華書局，台北。