撓性平移接頭與撓性旋轉接頭之設計

Abstract

本文內容分別研究撓性平移接頭與撓性旋轉接頭之設計。在撓性平移接頭方面，首先探討懸臂樑受力產生之撓度，分析樑之尺寸參數對平移接頭所造成之影響；其次分析三種不同平移接頭，各種勁度比之大小；另外，本文定義撓性平移接頭內，其桿件與撓性連結關係，並由上述分析歸列出篩選法則與倒置規則，由構造合成理論，找出更多其它新式接頭。在撓性旋轉接頭方面，首先收集現有期刊與專利上之各種接頭，分析影響各標竿指數之因素，並由這些因素，設計出新式接頭，接著針對所設計之新式接頭，進行之尺寸最佳化的設計。最後，藉由有限元素模擬分析，進行此新式接頭之構造分析與驗證。

This thesis studies the design of compliant translational joint and compliant revolute joint. For the compliant translational joint, parameters of the CT joint are investigates via the cantilever beam theory. Stiffness ratio for the joint are also investigated. In addition, an innovative expression via graphs for the topology of the CT joint is established. By using the graph theory, new CT joints can be enumerated. For the compliant revolute joint, a literature survey for the CR joint is conducted. Then, factors that affect the benchmarking indexes are investigated. An innovative design of the CR joint is then proposed. Optimization as well as finite element analysis then performed in order to validate the design.