市面上現有的殘障機車大多是直接在一般機車上外掛兩個輔助輪，但此類型之車輛於過彎時無法像一般兩輪機車可內傾，導致車輛有翻覆的危險。

本文旨在研發抗翻覆之三輪車輛，有鑑於殘障機車易翻覆之問題，我們首先著手於改良現有的殘障機車機構，利用新的氣壓式內傾機構使車輛在各種情況下，能夠平穩地行駛而不翻覆；此外，我們運用相同的內傾原理，不一樣的內傾機構，車輪使用前兩輪後一輪的配置方法，設計製造新一代之三輪車輛。我們並藉由理論推導、實車設計以及電腦模擬，來瞭解可內傾式三輪車於彎道中之行駛狀況與特性，並呈現過彎內傾設計的優勢。本論文之特色在於我們使用速克達機車作為改裝車輛，如此一來，更能清楚地與現有改裝不可內傾三輪車輛(殘障機車)做比較，表現出可內傾式機動三輪車輛之優勢。

本研究之可內傾三輪車在過彎時可如同一般二輪車輛，騎乘者可依所需向心力的大小來控制內傾的角度，因此不會像傳統不可內傾三輪車般，發生過彎超出翻覆閾值而向外側翻車的情形；而在地面摩擦力不足時，車輛也只會向彎道外側滑出，並不會如二輪車輛發生向內傾側滑倒的情形，因此大幅提高了其安全性。

Most of the available scooters for handicapped people on the market are refitted by adding two auxiliary wheels at the rear wheel axle. It is not able to tilt as general scooters do while turning a curve. The operators may be in danger of rolling over.

The purpose of this research is to develop a new three-wheeler that can avoid rolling over. Because of the problem of rolling over, we reform the movement of scooters for handicapped people. We use a new type of pneumatic tilting mechanisms to make the scooter can be driven smoothly in any condition. Besides, we use a different mechanism which acts in the same tilting principle on the new generation three-wheeler that we design. There are two wheels at the front axle and one wheel at the rear axle of the new three-wheeler. We try to analyze the properties of the tilting three-wheeler on a curve by theory deduction, prototype design and computer simulation. We also present the advantages of the tilting design. We refitted scooters as the tilting three-wheelers, and therefore we can easily compare our vehicle with general scooters for handicapped people.

The tilting three-wheeler of this research resembles the general two-wheels scooter. Operators can control the according tilt angle to handle the centripetal force. Therefore, there is no danger of rollover because it is not going to exceed its rollover threshold value. As the friction of the road is not enough for the tilting three-wheeler to turn, it will only slide out of the lane and will not fall to the ground, which increases the safety of the three-wheeler.

[1]Huston, J. C., Graves, B. J., and Johnson, D. B., “Three Wheeled Vehicle Dynamics,” SAE Transaction, Vol. 90, Paper No. 820139, pp. 45-58, 1982.
[2]Bernard, J., Shannan, J., and Vanderploeg, M., “Vehicle Rollover on Smooth Surfaces,” SAE Technical Paper Series, No. 891991, 1989.
[3]李宗廷，三輪與四輪車輛在轉向時之穩定性分析，國立中央大學機械工程研究所碩士論文，1988。
[4]丁定華，四輪車與三輪車在加速轉向時之穩定分析，國立中央大學機械工程學研究所碩士論文，1992。
[5]徐賢錦，改裝殘障機車之翻覆性分析，國立台灣科技大學機械工程學研究所碩士論文，2001。
[6]劉邦佑，可內傾殘障機車之翻覆性分析，國立台灣科技大學機械工程學研究所碩士論文，2003。
[7]李嘉恩，內傾式殘障概念車之設計與實作，國立台灣科技大學機械工程學研究所碩士論文，2004。
[8]彭大展，內傾式三輪車輛之設計與分析，國立台灣科技大學機械工程學研究所碩士論文，2004。
[9]Sharp, R. S., “The Lateral Dynamics of Motorcycles and Bicycles,” Vehicle System Dynamics, Vol. 14, pp. 265-283, 1985.
[10]Katayama, T., Aoki, A., and Nishimi, T., “Control Behaviour of Motorcycle Riders,” Vehicle System Dynamics, Vol. 17, pp. 211-229, 1988.
[11]Gillespie, T. D., Fundamentals of Vehicle Dynamics, Society of Automotive Engineers, Inc, Warrendale, Pennsylvania, 1992.
[12]Ellis, J. R., Vehicle Handling Dynamics, Mechanical Engineering Publication Limited, 1994.
[13]Raman, A., Rao, J. S., and Kale, S. R., “Overturning Stability of Three Wheeled Motorized Vehicles,” Vehicle System Dynamics, Vol. 24, pp. 123-144, 1995.
[14]Milliken, W. F., Race Car Vehicle Dynamics, SAE International, Warrendale, PA, 1995.
[15]Karnopp, D., and So, S-G., “Active Dual Mode Tilt Control for Narrow Groung Vehicles,” Vehicle System Dynamics, Vol. 27, pp. 19-36, 1997.
[16]林筱增，車輛運動力學，科技圖書股份有限公司，2002。