本研究提出一具負載單連桿機構之多穩態設計方法，藉由齒輪機構的輔助，本方法可使一具負載之單連桿機構產生多個穩態位置以及變換穩態位置。研究首先回顧撓性與連桿穩態機構之發展現況，接著透過能量法分析機構穩態特性，藉以產生兩條穩態條件方程式。然後，經由彈簧與負載參數之間的關係，找出穩態位置之通式，得知齒輪比與彈簧連接桿的初始位置對於穩態位置之影響。據此，由穩態位置通式提出多穩態機構設計之方法，將需求穩態位置的數量做為設計之依據，找出適當的齒輪比與彈簧連接桿的初始位置，並由設計參數取得對應的彈簧係數。最後，舉出一個雙穩態機構設計與ㄧ個三穩態機構設計來說明設計流程，並用Adams來驗證機構設計結果的正確性。

The thesis presents a multi-stable design method for single-link mechanisms with payloads. By following the design procedure, the payload on the mechanism can have multiple stable positions which are changeable by regulating different design parameters. The mechanism is composed of a load arm and a spring force arm connected to two matching, respectively. First, we reviewed the developments of the compliant and linkage stable mechanisms, and used energy method to find the steady-state equations. Next, the general formulae of the stable positions were obtained from the relationship between the payload, spring, gear ratio and initial position of the spring force arm. Then, we proposed a design method of the single-link multi-stable mechanism with a payload. When an appropriate gear ratio and the initial position of the spring force arm are defined, the corresponding spring parameters can be obtained. Finally, a bistable mechanism design and a tri-stable mechanisms design are presented to illustrate the design procedure. After that, we used Adams to verify the correctness of the design results.

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