本研究旨在改善具間隙日內瓦機構之運動及動力特性。首先利用向量迴路法推導出具間隙日內瓦機構的運動方程式，再藉由碰撞理論來分析銷與槽之間的動態情形。此外，針對日內瓦機構，本研究利用一套不同於傳統以等轉速驅動主動輪的方法來增進其特性，此方法利用最佳控制理論來合成主動輪的轉速軌跡，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。再者，本研究分別以最小化輸入轉矩及日內瓦輪之角加速度峰值二個不同之目標函數，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，而槽數越多時，改善效果則不明顯。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，驗證出變轉速的理念在實務上是可行的。

　　This work aims to solve the problems of the kinematic and dynamic characteristics of the Geneva mechanisms with clearances. Firstly, the kinematic equations of the Geneva mechanisms with clearances are derived based on vector loop approach. And, according to the impact theory, formulation of the dynamic performance between the crank and the wheel is established. For Geneva mechanisms, we use the optimal theory to synthesize the motion of the crank to improve the performance to achieve the requirements of different dynamic characteristics without changing the dimensions of the Geneva mechanism. Two different objective functions are designed to minimize the input torque and the acceleration of the Geneva wheels, respectively. Then, an approach for the derivation of useful input speed trajectories is conducted to satisfy the kinematic characteristics and to reduce dynamic problem. Furthermore, this work provides examples of Geneva mechanisms with different slots, and discusses the results. The dynamic performance of the Geneva mechanisms with three slots is improved obviously, but those with five and six slots are not obviously improved. Finally, a prototype and the testing system of the servo Geneva mechanisms is designed, built, and tested. The results verify the approach of this research. In order to show the feasibility of this variable-input-speed method, a control algorithm shows how the servo system works is also presented.

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