對於連桿機構系統，過去皆藉由機構的尺寸合成設計來達到所需的輸出，但當所要求輸出運動在時序上有所改變時，即使只是些微差異亦必須重新進行設計、甚至改變整個系統之拓僕構造才能完成要求。近年來已有學者開始研究利用控制馬達輸入驅動桿件的轉速函數，使相同的連桿機構系統能夠擁有不同的輸出運動特性，則可不必更改系統之尺寸設計即可達到不同之輸出需求。但關於此部分之研究，目前皆假設在理想剛性系統下進行所需轉速函數的設計。爲了能夠瞭解更接近實際連桿機構在變轉速輸入下的運轉情形，則應更進一步考慮元件撓性特性、與接頭間隙等對於系統動態行為的影響。
故本論文主要研究目的在於：探討變轉速函數輸入下、接頭具間隙之撓性連桿系統的動態行為，討論桿件與接頭之撓性特性、與接頭間隙等對於系統動態特性的影響；並進一步探討，當考慮撓性系統時，如何利用轉速函數的設計，使輸出符合需求、又同時使系統擁有較佳之動態特性。
而最後結果顯示，當考慮更接近實際工程之撓性系統時(1)對於欲利用變轉速輸入使低階連桿機構達到高階機構之輸出軌跡時，若此需求軌跡曲線與原輸出曲線差異太大，則易造成系統動態特性變差，導致撞擊等額外動態問題的產生。(2)若僅限制在某區間或某時序符合輸出需求，只考慮理想剛性系統而設計得出的最佳轉速函數之分析結果是不適用於撓性系統的。在某些轉速函數輸入下，剛性系統擁有較佳的動態特性、卻可能引發撓性系統中嚴重撞擊、振動等情形。因此，需以更接近實際工程之撓性系統物理模型進行轉速函數的設計，才能使輸出符合需求、又同時使系統真正擁有較佳的動態特性。

The purpose of this work is to investigate the dynamic behaviors of a four-bar linkage press by considering the effect of the flexibility of the linkage and the clearance of joints. Besides, a method to find the optimal input speed was proposed.
The results show that the impact force in the joints of a press with a variable speed generally is far larger than that of the press with constant speed, and the impact force of a flexible system is also far larger than that of a rigid system. Therefore, the flexibility and clearance of a real press should be considered in designing a press with a variable speed. However, if the input speed is properly designed, the impact force may be drastically reduced.

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