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Title: | 分離可動度平面連桿機構之拓樸分析 Topological analysis of planar linkage with fractionated mobility |
Authors: | Jun-Xian Jiang 江俊賢 |
Advisor: | 陳達仁(Dar-Zen Chen) |
Keyword: | 分離可動度機構,桿件可動度,迴路子集,驅動對配置,地桿, fractionated mobility type mechanism,mobility of motion of link,input pair assignment,ground link,union loop, |
Publication Year : | 2010 |
Degree: | 碩士 |
Abstract: | 本論文的主要目的是在發展一套系統化且有效率方法於運動鏈中配置驅動對與地桿直接得到分離可動度機構。藉由討論桿件可動度受影響狀態與桿件相對地桿可動度受影響狀態的不同可知驅動對位置與地桿位置決定機構之可動度型態,故分開討論驅動對位置與地桿位置之影響。首先討論驅動對於機構中藉由內部拘束影響桿件可動度並利用以此衍生得到之迴路子集概念分析分離可動度機構。分離可動度機構為完全平衡迴路子集與非完全平衡迴路子集組合而成,透過已建立之方法可以得到n個迴路子集分離可動度機構之構造特徵,故驅動對可依此構造特徵配置。再來則是利用虛擬桿概念幫助說明桿件相對地桿之可動度受影響狀態受地桿影響,並基於此建立分離可動度機構之判斷法,利用此法可幫助於置入驅動對之分離可動度運動鏈選擇桿件為地桿以得到分離可動度機構。最後找出至十桿可動度三之分離可動度平面連桿機構並將其以修正對偶圖畫表示法列出。 This paper aim at developing a systematic and efficient method for arrangement of input pairs and ground link in kinematic chain according to fractionated mobility mechanism. Discussion of the difference between mobility of motion of link and mobility of motion of link relative to ground link shows us that location of input pairs and ground link would affect the mobility of mechanism. Firstly, the concept of union loop is introduced by discussing the relation of input pairs and mobility of motion of link. We can find that fractionated mobility type mechanism is composed of fully balanced union loops and non-fully balanced union loops and a method has been developed to create n-union loops fractionated mobility type mechanism. The input pair, then, can be properly deployed. Secondly, the concept of virtual link is introduced to figure out the effect of ground link on mobility of motion of link relative to ground link. Base on it, a method of identification of fractionated mobility type mechanism is developed. This method can help us to choose the proper link of a fractionated mobility kinematic chain which input pair assigned in to be ground link, such that the fractionated mobility kinematic chain forms a fractionated mobility type mechanism. At last, the atlas of all possible arrangements of input pairs and ground link of up to ten links and three mobility planar mechanism is presented by using modified dual graph. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/47188 |
Fulltext Rights: | 有償授權 |
Appears in Collections: | 機械工程學系 |
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