本研究介紹收藏於中國北京故宮的一具寫字人偶，此機關人偶裝置製作於18世紀歐洲，然而其內部構造並未公開。首先藉由文獻檢索了解當代歷史背景與技術發展脈絡，並使用歐、亞洲同時期的五座具繪畫與書寫功能的自動機的相關公開資料，和近代三組類似之機關人偶，分析得到寫字機構的構造特性，以創意性機構方法(Creative Mechanism Design Methodology)產生可行的機構構造。藉由幾何約束求解方法(Geometric Constraint Programming)求解桿件尺寸，並以極座標轉換法算對應之凸輪輪廓。透過Solidworks建模與模擬設計之機構的運動軌跡，並比較模擬之書寫軌跡與規畫之運動路徑誤差，分別在一自由度機構與二自由度機構的模擬中得到1.7mm與1.25mm之誤差，皆在5%以內，證實本研究所提出之機構設計的可行性。選擇一組二自由度的可行機構進行原型機製造，以原型機試驗實際持筆寫字情況，並以影像追蹤軟體Tracker紀錄手部運動軌跡。第一版原型機得實際軌跡與模擬軌跡約有45%和27%的誤差，而經過修改的第二個原型機的實際軌跡與模擬軌跡約有14.5%和9.1%的誤差，透過相同的軟體追蹤與實際測試重新驗證更改後設計版本的可行性。

This study introduces a writing automaton preserved in the Palace Museum in Beijing, China. Created in 18th-century Europe, the internal structure of this automaton has remained undisclosed. The study commences by conducting a literature review to understand the contemporary historical context and technological development. It draws upon publicly available information about five automata from Europe and Asia of the same period that possess painting and writing functions, as well as three modern automata with similar characteristics. By analyzing these sources, the structural features of the writing mechanism are discerned. Feasible mechanical structures are generated by the Creative Mechanism Design Methodology. Then, dimensions of the linkages are determined through Geometric Constraint Programming, and polar coordinate transformation is employed to calculate the corresponding cam profiles. The mechanical motion trajectory is simulated and designed using Solidworks. The simulated writing trajectory is compared against the planned motion path, revealing errors of 1.7mm and 1.25mm, both within a 5% deviation, in single Degree of Freedom (DoF) and dual DoF mechanisms, respectively. Among the viable options, a feasible mechanism with dual DoF is selected for prototype manufacturing. The prototype undergoes real writing tests, with hand movements recorded using Tracker software. The initial prototype exhibited discrepancies of 45% and 27% when compared to simulated trajectories, and the second prototype with modifications presents 14.5% and 9.1% deviations of the actual trajectory from the simulated trajectory, respectively. As a result, the reconstruction design is verified through software simulation and prototype testing.

[1] Y. Z. Li, Y. H. Chen, H. S. Yan, "On the Motions of Four Pagoda Clocks in the Forbidden City," Chinese Annals of History of Science and Technology, vol. 4, no. S1, pp. 61-81, 2021.
[2] M. Craig, "The Aeolipile as Experimental Model in Early Modern Natural Philosophy," Perspectives on Science, vol. 24, no. 3, pp. 264-284, 2016.
[3] E. S. Rixford, Figures in the Fourth Dimension Mechanical Movement for Puppets and Automata. New York: Self published, 2015.
[4] F. X. Guo, "清前期宫廷西洋科学仪器的种类和来源," Asian Studies, vol. 3, no. 2, pp. 119-138, 2015.
[5] 侯皓之, "巧奪天工:盛清時期的自行玩意," 史學彙刊, no. 24, pp. 87-118, 2009.
[6] 戴逸, 乾隆帝及其时代. 中國人民大學出版社, 2018.
[7] 孟庆波, 刘彩艳, "基督教与中华文化 “礼仪之争” 研究综述," 河北理工大學, 2010.
[8] Y. H. Chen, K. H. Hsiao, T. Y. Lin, H. S. Yan, "Mechanical Study on the Calligraphy Writing Automaton in the Forbidden City," International Federation for the Promotion of Mechanism and Machine Science 2015 PC Workshop on History of MMS, Saint-Petersburg, Russia, May 26-28 2015.
[9] P. Catherine, Eastern magnificence & European ingenuity : clocks of late imperial China. University of Michigan Press, 2001.
[10] 關雪玲, 日升月恆︰故宮博物院藏清代鐘錶. 紫禁城出版社, 2009.
[11] 關雪玲, 你應該知道的200件鐘錶. 藝術家出版社, 2007.
[12] 徐歡, "《故宮100》第38集 時間機器," ed: CCTV紀錄, 2012.
[13] H. S. Yan, "A methodology for creative mechanism design," Mechanism and Machine Theory, vol. 27, no. 3, pp. 235-242, 1992.
[14] 顏鴻森, 機械裝置的創意性設計. 臺灣東華書局股份有限公司, 2013.
[15] E. C. Kinzel, J. P. Schmiedeler, G. R. Schmiedeler, "Kinematic synthesis for finitely separated positions using geometric constraint programming," American Society of Mechanical Engineers Journal of Mechanical Design, vol. 128, no. 5, pp. 1070-1079, 2006.
[16] E. C. Kinzel, J. P. Schmiedeler, G. R. Pennock, "Function Generation With Finitely-Separated Precision Points Using Geometric Constraint Programming," in International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Philadelphia, Pennsylvania, USA, vol. 42568, pp. 381-390. 2006.
[17] F. Junod. "Alexandre Sergueievitch Pouchkine." http://www.francoisjunod.com/2016/09/21/alexandre-pouchkine/ (accessed 06/02, 2022).
[18] "Da Vinci's Drawmaton." https://www.drawmaton.com/the-machines.html#/ (accessed 01/14, 2023).
[19] R. Cesare, R. Flavio, R. Ferruccio, Ancient Engineers & Inventions. Springer, 2009.
[20] K. Teun, "On the prehistory of programmable machines: musical automata, looms, calculators," Mechanism and Machine Theory, vol. 36, no. 5, pp. 589-603, 2001.
[21] T. Amstutz. "Jaquet Droz Press Conference Automates et Merveilles." https://aucarillondor.ch/fr/medias/ (accessed 08/20, 2022).
[22] C. Jobson. "This Programmable 6,000-Part Drawing Boy Automata is Arguably the First Computer and It Was Built 240 Years Ago." https://www.thisiscolossal.com/2013/11/the-writer-automata/ (accessed 08/20, 2022).
[23] R. B. Logan. "Do Androids Dream of Horological Sheep?: A Look at Pierre Jaquet-Droz and his Automata." https://www.watchtime.com/featured/do-androids-dream-of-horological-sheep-a-look-at-pierre-jaquet-droz-and-his-automata/ (accessed 08/08, 2022).
[24] A. Baron, The Marvelous Maillardet Automaton. Columbia: National Association of Watch and Clock Collectors, 2019.
[25] 堀田純司. "文字書き人形." 歴史伝統文化財めぐり. http://kousin242.sakura.ne.jp/wordpress/eee/%E5%B7%A5%E8%8A%B8%E3%81%AE%E9%83%A8/%E3%81%8B%E3%82%89%E3%81%8F%E3%82%8A%E4%BA%BA%E5%BD%A2/%E6%96%87%E5%AD%97%E6%9B%B8%E3%81%8D%E4%BA%BA%E5%BD%A2/ (accessed 06/25, 2022).
[26] 末松良一. "「安城文字書き人形」～その特長と機構～." 安城市歴史博物館. http://karakurifront.com/anjomojikaki/anjomojikaki.html (accessed 06/26, 2022).
[27] 土屋徹, 大人の科学マガジン: 自動手書きマシン オートマ．テ. 學研社, 2014.
[28] H. S. Yan, Y. T. Chiu, "On the number synthesis of kinematic chains," Mechanism and Machine Theory, vol. 89, pp. 128-144, 2015.
[29] H. S. Yan, Y. T. Chiu, "An improved algorithm for the construction of generalized kinematic chains," Mechanism and Machine Theory, vol. 78, pp. 229-247, 2014.
[30] W. J. H. Andrewes, "A chronicle of timekeeping," Scientific American, vol. 287, no. 3, pp. 76-85, 2002.
[31] 林聰益, "古中國水力機械天文鐘系統化復原設計," 博士, 機械工程學系, 國立成功大學, 2021.
[32] "Illuminating a beautiful automaed past." The Kyoto Arashiyama Music Box Museum. https://www.kyoto-museums.jp/en/museum/west/3852/ (accessed 0409, 2023).
[33] P. Branislav, O. Ratko, S. Miša, J. Zorana, C. Ivana, V. Ivana, M. Zoran, "The Design and Simulation of an Astronomical Clock," Applied Sciences, vol. 11, no. 9, p. 3989, 2021.
[34] 捷克鐘錶協會. "The Prague Astronomical Clock." http://www.orloj.eu/en/home1.htm (accessed 06/13, 2023).
[35] R. Du, L. Xie, "A Brief Review of the Mechanics of Watch and Clock," The Mechanics of Mechanical Watches and Clocks, (History of Mechanism and Machine Science, ch. 2, pp. 5-45, 2013.
[36] M. V. Headrick, "Origin and evolution of the anchor clock escapement," IEEE control systems magazine, vol. 22, no. 2, pp. 41-52, 2002.
[37] D. F. Caballero, "Generalized modeling of spiral torsion springs. Application in energy storage," PhD thesis, Department of Mechanical Engineering and Manufacturing, Polytechnic University of Madrid, 2012.
[38] S. Dhruv, "An Integrated Approach of The Brachistochrone And Tautocrone Curve," 2020.
[39] M. V. Headrick, "Clock and watch escapement mechanics," 1997.