本研究提出一種單自由度變負載自動調整靜平衡機構，該機構可在承受不同載重的情形下，自動調整機構內部配置，進而達到靜平衡狀態，即可靜止地停留在機構的任意運動位置上。此新型機構由一彈簧式靜平衡機構以及一彈簧接點自動調整機構所組成。靜平衡機構內部有一彈簧，彈簧之連接點位置可改變；當機構承受不同的載重時，彈簧連接點可受彈簧接點自動調整機構移動，以產生不同的彈簧拉伸量，使機構在運動範圍內之彈力與重力位能和皆保持定值。本研究首先將回顧定負載與變負載靜平衡機構之發展現況，然後介紹該靜平衡機構，以及與其搭配之彈簧接點自動調整機構的構造與原理。然後，透過一數值範例，建構一可承受0至2 kgw之載重的靜平衡機構。最後，完成該設計之電腦輔助設計模型以及測試。測試結果顯示，本設計之靜平衡機構在θ＝0°~ 45°的範圍內可實現變負載靜平衡。

The thesis presents a single-degree-of-freedom spring-based statically balanced mechanism with self-regulator under variable payload. Subject to different payload, the proposed mechanism can automatically adjust the connecting points of the spring without the help of electric motors or manual operation. The presenting design is composed of a statically balanced mechanism and a spring adjusting mechanism. The statically balanced mechanism uses cables to adjust the spring connection points for satisfying the statically balanced condition. The cables are driven by the spring adjusting mechanism. When different payload is applied onto this mechanism, the mechanism can drive the cables to move the spring connecting points to suitable places where the overall potential energy of the mechanism and the payload will remain constant within the workspace of the mechanism. A numerical example is provided to illustrate the design under a payload ranged from 0 to 2 kgw. A computer-aided design model of the design is provided, and a prototype is built up and tested to verify the design. The testing results show that the prototype can reach statically balanced condition under variable payload between θ＝0°~ 45°.

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