本論文應用撓性機構形狀最佳化方法，設計一輕巧型並聯式定向機構。輕巧型定向機構近年來的發展由於微創手術機器人、精密光學、微組裝定向、乃至於機器人自動導引等需求而受到重視。本論文提出之定向機構具有旋轉(Pan)及傾俯(Tilt)雙軸旋轉自由度，透過空間共點4R運動鏈連接，使旋轉及傾俯間僅有單向且微量的耦合效應。而平行排列的並聯設計容許致動器固定於地桿，讓定向機構可以有更小巧的尺寸及更佳的動態表現。機構中的撓性桿件其拓樸構形及幾何形狀對於相對運動的傳遞有非常顯著的影響，因此我們設計形狀最佳化的撓性桿件，分散變形時的應力，使其在彈性限內，能有效地將兩枚並列之直線式步進馬達的往復衝程，分別轉換成定向機構的旋轉和傾俯運動。此外，直線式步進馬達內部以螺桿蝸輪囓合形成自鎖現象，令致動器在斷電時產生之保持力足以抵抗撓性桿件變形時的反作用力，提供定向機構極佳的能量使用效率。而經過形狀最佳化，以撓性桿件傳動之輸入位移與輸出定向角呈線性對稱關係，配合開迴路定位控制的步進馬達，使定向機構毋需額外加裝感測器回饋便能精準導引。利用撓性桿件取代部份剛體連桿，可避免操作時的奇異點，更彈性地利用設計空間，使機構有更小的尺寸、更少的零件數、簡化組裝流程與裝配誤差，同時抑制磨耗、背隙和潤滑等議題。最後我們以有限元素法驗證機構的運動行為，並將定向機構具體實現，包含尺寸公差設計、加工組立，並以此原型機進行機構之準確度測試、解析度測試、響應速度測試和極限位置展示。未來期望此定向機構整合機器視覺，應用在智慧型車輛及機器人自動導引等相關領域。

Orienting mechanisms serve to precisely orientate a tool to a specific configuration. They are found in mechatronics applications such as minimally invasive surgery and vision-based robot guidance. To meet the requirement of miniaturization and ease of control, a compact orienting mechanism is proposed. The mechanism can perform two-degree-of-freedom pan and tilt motion. Due to the combination of spherical mechanism and parallel axes of flexural actuation, the two linear step motors are ground-fixed and placed in parallel, which provide a smaller dimension and better dynamic response. The two axes are only slightly coupled. Through a shape optimization, the flexural mechanisms are designed to transmit a given linear input displacement to a maximal output orientation. The optimal mechanism shape enables a linear input to output relation. The linear relationship provides a precise open-loop control for linear step motors without extra sensors. Due to the self-locking property of the step motors, the mechanism is energy efficient. The replacement of rigid links and kinematic pairs by flexural elements reduces the number of the parts and overall size. Friction, backlash and singularities can be avoided as well. We apply finite element analysis to verify the designed flexural motion. After investigation of the tolerance design, the orienting mechanism is prototyped. The precision test, resolution test, speed test, reliability test, and unloaded demonstration are carried out. With the complete performance test, we expect the orienting mechanism can be used to facilitate the advance of intelligent mechatronics applications.

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