遠端運動中心機構(Remote center-of-motion)是一個可以讓輸出桿在運動過程中始終繞著一固定點旋轉的特殊機構，而該固定點即遠端運動中心，此機構已廣為應用在機器人微創手術中。在工業機械設備或機械手臂中，常須使用靜平衡以得到較佳的機械運動特性。已有文獻指出，若微創手術機器人具靜平衡特性，可提升機器人的安全性，並有助於手動重新定位；然而，目前手術機器人的遠端運動中心機構靜平衡設計仍非常少見，本研究即探討遠端運動中心機構之靜平衡設計，將傳統靜平衡理論中的配重法與彈簧法應用在遠端運動中心機構上，藉由搭配不同的方法來平衡機構中的多個自由度運動。本研究共提出三種不同的靜平衡設計概念，分別為純彈簧設計、純配重設計與彈簧加配重之整合設計。我們亦使用Adams機構運動模擬軟體驗證靜平衡設計的正確性。

Remote center-of-motion (RCM) mechanisms are a mechanism whose output link can always rotate around a fixed point, which is so called the “remote center-of-motion.” This kind of mechanisms commonly works in robotic minimally invasive surgery. On the other hand, static balancing is practically useful in many mechanical transmissions and robot arms. For surgical applications, it can be used to enhance surgical safety and assist manual reposition of the surgical tool. The current static balancing for RCM mechanisms, however, is rare; therefore, the aim of this thesis is to introduce the theories of static balancing into linkage-type RCM mechanisms. Accordingly, we have come up with three different design concepts including (1) pure spring, (2) pure counterweight, and (3) spring-and-counterweight balancing designs. We also use Adams simulation software to verify these design concepts.

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