無論是工業用機械手臂、手術機器人還是一般的工業機械設備中，經常需要使用到靜平衡技術來獲得更佳的機械運動特性。一般常用到的靜平衡方法多半為彈簧法、配重法、磁力法、纜繩及連桿法，上述方法皆為被動式靜平衡方法。本研究則是使用主動式氣動法作為主要的重力補償來源，以其為發想基礎提出一個機械手臂設計，本設計具有以下優勢:

(1) 此氣動式靜平衡機構只需一個步驟便能達到可變負載;
(2) 本設計在使用過程中能在任意位置停止並擁有鎖固功能;
(3) 本研究相較於其他靜平衡法的設計體積大小更為簡化;
(4) 考慮各零件重量並使用實際彈簧，達到近似重力平衡;

以此構想本研究提出以直線型氣壓缸取代傳統式彈簧的雙自由度靜平衡機構，並且使用MSC Adams 電腦輔助工程軟體驗證其可行性。
為了使雙自由度靜平衡機構能合乎實用性本研究考慮每根桿件之桿重，提出一系統公式計算依據不同荷重及不同安裝位置及氣壓缸大小各別所需輸入的氣壓巴數，達到可變負載的特性。提出共五個步驟的基本操作，並講解氣壓缸之功用。最後，製作原型機量測實際情況與模擬結果相同，並驗證此機構能達到上述之優勢。

Whether it's industrial robotic arms, surgical robots or general industrial machinery, static balancing technology is often used to achieve better mechanical motion characteristics. Most of the static balancing methods commonly using spring, counterweight, magnetic, cable and connecting, and the above methods are passive static balancing methods. This thesis using active pneumatic method as the main source of gravity compensation, with its idea as the basis for a mechanical arm design, this design has the following advantages:

(1) This pneumatic static balancing mechanism can achieve variable payload in one step;
(2) This design can be stopped in any position during working and it has the locking function;
(3) This thesis is more simplified in size compared with other static balancing methods;
(4) Consider the weight of each part and use the actual spring to achieve an approximate gravity balanced;

This thesis proposes a 2-DoF statically balanced mechanism using a linear pneumatic cylinder , and to verify its feasibility with MSC Adams CAE software. In order to make the 2-DoF statically balanced mechanism in line with practicability. This thesis considers the weight of each rod piece, a system formula is proposed to calculate the number of air pressure bars required according to different payload and different mounting positions and the size of the cylinder, to achieve the characteristics of the variable payload. Propose five operation steps and explain the function of the air pressure cylinder.

Finally, the prototype measures the actual situation is the same as the simulation results, and verify the mechanism can achieve the above advantages.

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