6-1 結論
本研究利用Adams 建立現行四軸車輛之轉向連桿機構模型，得出其轉向角運 動關係，分析了連桿機構的可調整性，並用Magic Formula 輪胎模型及三自由度四 軸車輛穩態轉向模型觀察實車轉向幾何之轉向特性，以及轉向機輸出比對於轉向
5. 弱阿克曼前雙軸轉向之連桿組設計，搭配第四軸弱阿克曼輔助轉向，可以得到 比理想阿克曼輔助更小的迴轉半徑，且側滑角表現依舊優秀。
本研究所使用之最佳化設計方法，可以任意調整目標轉向幾何的參數，得出所 需要的轉向機構，有助於改善四軸車輛的轉向幾何。
6-2 未來展望
本研究以力學與運動學分析進行連桿最佳化設計，其中尚可再研究發展的部 分如下：
1. 更詳細考慮車殼內傳動機構等其他零件的空間分配與限制。
2. 考慮連桿若為非水平置放時，重力對於驅動力矩限制的影響。
3. 考慮連桿若不為均質時，對於驅動力矩限制的影響。
4. 修正穩態轉向模型，加入輪胎與主插銷之間的距離，重新考慮轉向特性。
5. 改良全域搜索邏輯，減少最佳化運算的時間或得出更接近目標之解。
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