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  1. NTU Theses and Dissertations Repository
  2. 工學院
  3. 機械工程學系
Please use this identifier to cite or link to this item: http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/36555
Title: 以最佳化方法求解具滾動接觸四桿機構之剛體導引運動
Solving for Rigid-body Guidance of the Four-link Mechanism with Rolling Pairs by Optimization Method
Authors: Sheng-Lun Hu
胡勝倫
Advisor: 李志中
Keyword: 多指式夾爪機構,滾動接觸,剛體導引,最佳化,
chopsticks-type gripping mechanism,rolling pairs,rigid-body guidance,optimization,
Publication Year : 2005
Degree: 碩士
Abstract: 本文探討具滾動接觸夾爪機構的運動合成問題。本文分為三部分,第一部分對於已經建立的剛體導引運動方程式,討論其運動合成時的自由設定的變數個數與方程式個數關係。第二部分為以最佳化方式解運動方程式,並以圖解討論機構的運動狀態。第三部分為用運動分析的方式,解析最佳化合成之結果,證明此法可有效的找出合成方程式的解。
In this paper, the kinematic synthesis of a chopstick-type gripping mechanism containing rolling pairs is studied. The design equations of the mechanism used as a rigid-body guidance are established. The number of free choices in design variables in the kinematic synthesis is also discussed. The optimization-based numerical technique is applied to solve the design equations. The synthesized solutions are illustrated to discuss the kinematic states of the mechanism. It is also shown that the optimization-based method is effective in finding the admissible synthesis solution of the mechanism.
URI: http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/36555
Fulltext Rights: 有償授權
Appears in Collections:機械工程學系

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