本文針對六連桿脈衝式無段變速機自動變速器之動力分析及最佳化設計做研究。此機構是由四組尺寸相同之瓦特II型六連桿機構於不同相位角組合而成，根據虛功原理與廣義德倫布原理，推導出此機構的動力方程式，並根據此動力方程式對此機構作反向及正向動力分析。且提出由非線性扭力彈簧裝置於機構之調速軸上的自動變速器，進而使用最佳設計之方法CCD，設計其調速軸之位置及非線性扭力彈簧，使其自動變速器在最小減速比時調速桿扭力之振幅最小化，及使輸入與輸出之轉速比隨著輸入速度近乎線性變化。

The dynamic analysis and optimal design of an automatic speed control device of the Zero-Max impulse drive are studied in this thesis. The mechanism is modeled as a set of four six-link Watt’s type II mechanisms simultaneously operated at the same input speed with equal spaced phase angles, and the governor equations of motion are derived based on the principle of virtual work and the generalized D’Alembert’s principle. Based on this formulation, the dynamic characteristics of the mechanism are investigated through the inverse and direct dynamic analyses. The proposed automatic speed control device is a nonlinear torsion spring attached to the speed control link of the mechanism. A numerical optimization algorithm based on the CCD method is developed for finding the optimal coordinates of the pivot point of the speed control link and the coefficients of the nonlinear torsion spring, such that the vibration of the torque exert on the pivot point of the speed control link at the point of maximum speed ratio is minimized and a linear relationship of the input-output speed ratio is achieved through out the speed varying range.

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