本論文目的為應用形狀最佳化方法來設計應用於機電系統之撓性機構。一體成型之撓性機構利用本身撓性桿件傳遞位移及力量，因此具有零磨耗、無背間隙及可微小化之優點。其中，不同幾何形狀之葉片式撓性機構對其形變傳遞及應力分佈有相當大之影響，因此我們針對此項特點進行撓性機構之幾何形狀設計。本論文提出一廣泛性最佳化方法，在避免材料降服前提供最佳的撓性鉸鍊形狀並分別設計旋轉式及直線式之操縱器。在旋轉式操縱器設計部分，由於形狀記憶合金線(簡稱型憶合金線)具有大行程、高功重比且不需高電壓驅動之優點，因此我們結合型憶合金線為驅動器、撓性鉸鍊為傳遞構造使其適合於在一有限空間內設計高精度之旋轉機構。為探討不同形狀對於旋轉量之影響。經由不同模擬結果得到不同形狀對於旋轉量之變異。此外，藉由平行連接兩組單向具型憶合金線之操縱器，發展出一在不犧牲旋轉量下之主動雙向旋轉操縱器。雙向轉動操縱器因其主動式收縮與伸張使其反應速度快於藉撓性桿件被動式回復單向轉動操縱器。為精確地控制操縱器之運動，我們採用比例積分微分控制器進行控制，並藉由步階及追蹤實驗以表現其性能。在直動式操縱器部分，本論文改變撓性桿件形狀及厚度之變異設計出一定力裝置，針對不同目標函數加以討論，並選擇最適當的目標函數及其結果作為定力裝置設計之參考依據，並提出定力裝置能應用於加工及機器夾取上的可行方案。最後我們期許此設計方法能廣泛應用在不同尺度種類操縱器之設計上。

This thesis presents a shape optimization method to design rotary manipulators and a translational constant force mechanism. Monolithic flexures transmit motion and force without friction/backlash and are capable of miniaturization. Shape memory alloy (SMA) exhibits large stroke, high energy density, and requires low driving voltage. Combining SMA as driver and flexure as load transmitter makes them well-suited for tasks that require high precision and compact size. To explore flexure shapes beyond traditional notch hinges and leaf springs, we present a general shape optimization method. First, we find the best shapes for maximal rotation without yield. The advantages gained from shape variations are shown through several simulations. By parallel connecting two one-way manipulators with two opposing SMA wires, we contribute a new two-way manipulator to achieve two-way motion without sacrificing large stroke. The two-way manipulator actively contracts and extends therefore it is much faster than owe-way manipulators the extension of which relies passively on flexural force. A feedback PID controller is implemented to precisely control the motion of the manipulators. We illustrate their performance by step and tracking response experiments. In addition, we employ the optimal design of shape and width of compliant links to design a constant force mechanism. Two different objective functions to design flexural linear mechanism are discussed. With the merits shown, we expect that the flexural rotary and linear motion mechanisms can be utilized in meso to micro scale applications.

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