以最佳化方法求解具滾動接觸四桿機構之剛體導引運動

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.