本論文提出一針對義大利麵條之翻炒式機器人設計及參數化軌跡控制方法；此研究內容為製作具一有三自由度之翻炒式機器人結構及控制系統。此一機構平台為一具有關節機構以及五連桿機構之設計，其可生成翻炒義大利麵條所需之運動軌跡。翻炒義大利麵條之運動軌跡是藉由動作擷取系統紀錄廚師翻炒義大利麵時之炒鍋軌跡，並進而分析炒鍋之位置、角速度和角加速度等運動學資料。其次將鍋子中心點及手腕點之運動軌跡以正弦曲線逼近法（Sum of Sine Function）進行曲線迴歸以找出軌跡方程式，並根據此軌跡方程式設計出五連桿機構之連桿長度及關節位置。為了因應不同義大利麵條之重量和濕黏度等條件，此論文提出參數化軌跡控制方法，此一系統具有5個軌跡調變參數，包括速度、進退衝程速度比例、關節馬達角度範圍、初始鍋面角度偏移和上升時間點。最後，本論文設計一操控面板，便於使用者操控機器人，其操控面板可以即時改變且顯示翻炒式機器人之參數，以因應義大利麵重量和濕黏度等不同情況進行調整，其方便於實際上的使用，並透過相關實驗來驗證此一研究之可行性。

This study proposes the design of a stir frying robot, and the stir frying robot is capable of cooking spaghetti in terms of parametric trajectory control scheme. The stir frying robot is composed of a three-degrees-of-freedom (DOF) mechanical structure and an embedded control system. The 3-DOF mechanical structure is formed with a five-linkage mechanism and a revolute joint, where the five-linkage mechanism is controlled via two AC motors to emulate the cook's sagittal wrist motion; an AC motor is formed as an active revolute joint to emulate the wrist posture to control the tilt angle of a frying pan. To analyze the trajectory of a stir frying trajectory, a motion capture system is used to collect the cook's stir frying motion for cooking spaghetti. The kinematic trajectory of a frying pan is analyzed based on the spatial position, velocity and acceleration. The trajectories of the center of the frying pan and the cook's wrist were investigated, and the sum of sine function is further used to generate the regressive trajectory equation. According to the regressive trajectory equation, the links' lengths and joint's positions of a five-linkage can be generated.
To overcome the effects of different spaghetti ingredients such as weight and moisture, this work proposes a parametric trajectory control scheme, and the control parameters are speed level, speed ratio of forwarding and returning strokes, range of wrist angles, initial frying pan angle and rising time. Finally, an embedded controller is realized to control the 3-DOF stir frying robot. A control panel is also provided to display and adjust the control parameters so that the cooks may easily adjust the robot trajectory to meet different spaghetti ingredients requirements. Many experiments showed successful stir frying spaghetti processes, and the results were shown and discussed in this thesis.

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