可展開機構中的Jitterbug-Like 連桿組是模仿Jitterbug Motion的一種機構，其幾何特性已被歸納與定義，而CRRC相關機構則是應用於Jitterbug-Like連桿組，其機構為何可應用於可展開機構，兩者之間有何關聯性，值得我們深入探討；又CRRC相關機構在空間運動學之特性尚未被研究，故也將做為研究主題之一。
探討機構之首要且最直覺的方法是耦桿點曲線，因其對於導引剛體位移和路徑衍生機構上扮演重要的角色。Röschel在探討多面體連桿組之運動分析，提到多面體連桿組的運動情形為Darboux Motion，因此本論文將CRRC相關機構透過耦桿點曲線分析，並驗證其耦桿軌跡與Darboux Motion之間存在的關聯性，且以Solidworks○R進行模擬，確定CRRC相關機構與Darboux Motion之關係，也探討當許多CRRC機構合成Jitterbug-Like 連桿組，其是否符合Darboux Motion。
空間機構的運動可以用螺旋表示，Chasles定理說明空間中的剛體位移，均可表示為剛體沿一特定軸作平移和旋轉運動，當機構在瞬時運動過程中，所產生的螺旋即為瞬時螺旋，將所有瞬時螺旋集合而成則為瞬時螺旋曲面，藉由不同的坐標系觀察，又分為固定或運動瞬時螺旋曲面。本論文將探討CRRC相關機構之瞬時螺旋，並藉由不同的參數設定來分析，以歸納CRRC相關機構之瞬時螺旋特性。
當機構在有限運動過程中，所產生的螺旋集合而成為有限螺旋矩陣，將所求得的有限位移矩陣結合矩陣秩數的概念，即可討論機構有限運動之線性性質。本論文探討CRRC相關機構之有限位移螺旋，並以數值模擬不同的參數設定，說明CRRC相關機構之有限位移為三系統，不具有線性性質，亦即有限位移矩陣不能以兩線性獨立螺旋為基底的螺旋系統來表示。
關鍵詞：可展開機構，耦桿點曲線，瞬時螺旋，有限位移

Jitterbug-like linkages have been employed in deployable mechanisms that have Jitterbug motion. The spatial CRRC linkage and its related linkages have been applied in Jitterbug-like linkages. This thesis aims at answering the following questions: why can these CRRC related linkages be applied in deployable mechanisms? What is the relationship between CRRC related linkages and Jitterbug-like linkages?
The most direct way of studying the CRRC linkage is through the investigation of its coupler curve because the coupler curve plays an important role in guiding the coupler to conduct tasks, such as rigid-body guidance and path generation. Röschel described that the motion of polyhedral linkages is Darboux motion. The thesis first analyzes the coupler curve of CRRC related linkages and verifies the correlation between its coupler curve and the Darboux motion. Then we use Solidworks○R to simulate and verify the result.
This thesis also uses screw theory to investigate the motion of the CRRC related linkages. Chasles theorem states that a spatial displacement can be represented by a rotation about an axis and a translation along the same axis. In instantaneous kinematics, the locus of all instantaneous screws forms a screw surface. By observing in different coordinate systems, this thesis determines the instantaneous screws of the CRRC related linkages by varing parameter settings and reports the instantaneous screw surfaces of CRRC related linkages.
When studying the finite displacement of the CRRC related linkages, we use the ranks of screw matrices to determine the linear properties of finite screws. The thesis investigates the finite screws of CRRC related linkages and uses numerical examples to study the linear properties of the finite screws. The result shows that the ranks of finite displacement screw matrices of the CRRC related linkages are three and that they do not possess linear properties.
Keywords：Deployable Mechanisms, Coupler Curve, Instantaneous Screw, Finite Displacement

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