先前計劃分別提出兩個新穎構想的機構：單自由度的複合式平台與用低維機構驅動的三維運動平台，兩者皆已完成初步的設計、合成與測試。可執行的三維運動功能，如路徑演生可依序經過空間中指定的五個精確點，而物體導引則可使移動平台依序到達六個姿勢。其它成果如推導出「共面點曲線」及「共球面點曲線」等相關理論。本計劃將承續先前成果，進一步發展研究，其方向概可區分為以下四類。 1. 探討所提出之機構的構形數目：其方法可基於諸方程式的次數，配合幾何特性加以解析探討，並輔以數值搜尋的工具加以驗證；本探討的另一目的，乃為如何讓合成的機構，能以同一族構形或分支到達指定的姿勢或精確點。 2. 應用最佳化的方法於三方向：當接頭的設置受限時，於可選擇範圍中搜尋最佳的設置位置；指定精確點或姿勢的數目超過理論上最大值時，搜尋誤差最小的合成設計；對於如傳力比等目標函數，設計能使目標值最佳化的機構。 3. 多相路徑的機構合成：設若一或多個支撐腿，其與基座相接的位置可於多個選擇間切換；運動平台對應每一選擇，將可執行不同的運動。藉此概念可合成類似的複合式平台，以符合多相路徑的指定，或能到達多個序列的姿勢。 4. 雙桿支撐腿的應用:當使用如P-R-S 的雙桿支撐腿，由於S 接頭可到達如橢圓柱面的工作曲面，因此與先前皆使用如R-S 的單桿支撐腿相較時，可增加指定的精確點數目或姿勢的個數；大幅增進該複合式平台的應用範圍。本計畫除上述理論推導外，將發展程式以輔助機構的設計、使用三維軟體以模擬機構運動、以及建立模型以實際檢測。由於當指定運動的姿勢序列有所改變時，仍可沿用相同的機構形式，而僅須對接頭位置與支撐腿桿長加以調整即可。因此實驗模型將以具有桿長調整功能者為佳，以能適合多種運動需求。此亦代表此機構具有成本低、構造簡單、易維修及易改裝等優點。
The previous projects proposed two novel mechanisms which are hybrid platform with single degree of freedom and 3D platform driven by low DOF mechanism. Both mechanisms have been designed, synthesized and tested. They can work for path generation up to five precision 3D points, and six poses for body guidance. The theory such as “coplanar point curves” and “sphere-point curves” are also proposed. This project will continue the study of various hybrid platforms and mainly focus on the following topics: 1. Study the number of configurations for proposed mechanisms: The study and analysis is based on the order of related equations and geometry characteristics. The technique of numerical search can be used as assistant tool as well. The objective is that the synthesized mechanism corresponding to several specified points or poses can be all on the same branch. 2. Apply optimization techniques on three tasks: One is to search the optimal position to install joints within limited regions. Another is to find the optimal solution if the number of specified precision points or poses is larger than the theoretical value. The other is to design the mechanism so that some indexes, such as transmission ratio, can reach the extreme values. 3. Synthesize mechanisms for multi-phase motion generation: Let the jointed position of supporting legs can be switched among several choices. The movements of the platform corresponding to each choice are thus different. Therefore, a synthesized mechanism can hopefully generate multi-phase of path or reach several series of specified poses. 4. Install the supporting legs with two links: If a supporting legs P-R-S with two links is installed, the workspace of the S joint is an elliptic cylinder. The number of precision points or poses that can be specified thus increases substantially when compared with using R-S legs with single link. In addition to developing the theories listed above, the programs for designing related mechanisms will be developed. The mechanism will be simulated by using 3D software and the prototype will be built for real test. One valuable advantage of this platform is that only link lengths and joints coordination have to be modified while the mechanism type remains the same for different assignments of poses. Therefore, the links with length being adjustable is preferred in building the prototypes, and numerous movement requirements can thus be achieved. The advantages of this proposed mechanism are also highlighted, and they are low-cost, simple to design, and easy in maintenance as well as modification.
