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Title: | 應用位移李次群理論於三類不連續可動機構之合成及運動分析 Synthesis and Motion Analysis of Three Discontinuous Mobility Mechanisms via Displacement Lie Subgroup Theory |
Authors: | Tsung-Ni Yang 楊宗霓 |
Advisor: | 李志中 |
Keyword: | 李群,位移群,位移李次群,不連續可動性,不連續可動機構,機構合成, Lie group,displacement group,displacement Lie subgroup,discontinuous mobility,discontinuously movable mechanism,mechanism synthesis, |
Publication Year : | 2016 |
Degree: | 碩士 |
Abstract: | 不連續可動機構為具有兩種或兩種以上不可共存之運動的特殊機構。特殊桿件幾何、接頭運動軸的方向等皆可能是產生此現象的原因。因此在眾多研究當中,對此種機構的定義仍是眾說紛紜,合成方法也隨之而不同,進而導致部分類型之不連續可動機構的合成方法也尚未完全發展,本文主旨在於將此種特殊機構進行有系統的定義及分類,設法完善不連續可動機構的合成方法,並詳細說明些許案例。本文採用李群作為機構分析及合成的運算工具,以便於快速的分析得知機構的運作狀況,亦有考慮到合成上的需求。隨後,本文將不連續可動機構依據產生原因進行分類,並針對其中一大類之不連續可動機構的合成方法進行整理。接著應用此合成方法實際將符合設定之條件的機構設計出來,並利用電腦輔助設計軟體繪製出機構模型來進行運動驗證。最後將呈現兩個擁有兩種運動模式之不連續可動機構,以及一個具三種運動模式之不連續可動機構,且探討合成過程中所得到不符合之案例及其不符預期之因素。 Discontinuously movable mechanisms (DMM) are special mechanisms with two or more working modes. Additionally, these modes cannot work simultaneously. Such mechanisms with these characteristics result from various reasons such as the geometry of the links and directions of the joint axes. Therefore, definitions and methods of synthesis of DMMs are wildly divided and depend on their classifications. In the virtue of diverse definitions of DMMs and indefinite synthesis method of some categories of DMMs, the purpose of this work is to systematically classify present DMMs and to develop a method of synthesis of DMMs. Several cases are discussed in detail. In order to learn the motion of the mechanisms fast, this study analyzes and synthesizes DMMs on the strength of Lie group theorem. Firstly, this paper presents the classification of DMMs according to their prime characteristics. Then, one of the classes of DMMs is analyzed on the basis of this thesis. Last but not least, the final designs, which are two DMMs with bifurcation and one with trifurcation, are modeled by a CAD software to validate their motions with discussions of the improper ones as well. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/3706 |
DOI: | 10.6342/NTU201602740 |
Fulltext Rights: | 同意授權(全球公開) |
Appears in Collections: | 機械工程學系 |
Files in This Item:
File | Size | Format | |
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ntu-105-1.pdf | 3.16 MB | Adobe PDF | View/Open |
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