本論文為研究九連桿雙自由可收摺健身馬機構，並於機構中加入死點構形以增加安全性，同時使其收摺後所占的空間降至最小。首先搜尋可收摺健身馬機構專利，在現有的專利中，並無有效利用死點構形的機構。因此在新型構形中，以創意性設計之方法，加入死點構形於兩端點位置，且機構展開時基座也必須達到死點構形。於本文中提出一種不需要透過最佳化的方法，直接指定機構欲收摺的型態，並以兩點合成之方法，針對兩種新型機構，於運動兩端點與收摺形態，推導出各機構的解析方程式。最後比較兩種不同構形的數值範例結果，選擇較佳的結果製作實體模型，以驗證本文提出之方法的可行性。

This thesis deals with the design of foldable exercise horse mechanisms. A nine-link, two-degree-of-freedom mechanism which not only incorporates the dead-center configuration for safety consideration, but also requires merely the minimum storage space is developed. In this study, a patent search is first conducted and no contemporary design of exercise horse mechanisms has been found to take the advantage of the dead-center configurations. Creative design methodology is therefore adopted for synthesizing the kinematic structure of new mechanisms which would reach the dead-center configuration at the two end points of the motion domain. To make the mechanism foldable, a four bar linkage is designed as the base link, such that it would reach dead-center position when the mechanism is fully unfolded. In addition, an analytical method is developed for synthesizing the dimensions of two new mechanisms. The synthesis equations are derived based on two-position synthesis technology and the special geometrical configuration according to the minimum storage space requirement. Finally, the performance of the two new mechanisms is compared and a prototype model of the better one is produced to demonstrate the effectiveness of the proposed design.

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