具有不變之桿件與接頭數目之可變拓樸機構概念設計方法

Ming-Hui Wu; 鄔明輝

請用此 Handle URI 來引用此文件： http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/61964

完整後設資料紀錄

DC 欄位	值	語言
dc.contributor.advisor	陳達仁(Dar-Zen Chen)
dc.contributor.author	Ming-Hui Wu	en
dc.contributor.author	鄔明輝	zh_TW
dc.date.accessioned	2021-06-16T13:20:48Z	-
dc.date.available	2018-07-30
dc.date.copyright	2013-07-30
dc.date.issued	2013
dc.date.submitted	2013-07-25
dc.identifier.citation	[1] Yan, H. S., and Kuo, C. H., 2006, 'Topological Representations and Characteristics of Variable Kinematic Joints,' ASME J. Mech. Des., 128(2), pp. 384-391. [2] Shieh, W. B., Sun, F., and Chen, D. Z., 2011, 'On the Operation Space and Motion Compatibility of Variable Topology Mechanisms,' ASME J. Mech. Rob., 3(2), pp. 0210071. [3] Wohlhart, K., 1996, Recent Advances in Robot Kinematics, Springer Netherlands, Kinematotropic Linkages. [4] Dai, J. S., and Rees Jones, J., 1999, 'Mobility in Metamorphic Mechanisms of Foldable/Erectable Kinds,' ASME J. Mech. Des., 121(3), pp. 375-382. [5] Dai, J. S., and Rees Jones, J., 2003, 'A Linear Algebraic Procedure in Obtaining Reciprocal Screw Systems,' Journal of Robotic Systems, 20(7), pp. 401-412. [6] Dai, J. S., and Rees Jones, J., 2005, 'Matrix Representation of Topological Changes in Metamorphic Mechanisms,' j. Mech. Des., 127(4), pp. 837-840. [7] Huang, Z., X., Z. D., and F., L. J., 2009, 'A General Methodology for Mobility Analysis of Mechanisms Based on Constraint Screw Theory,' Sci. China, Ser. E, 52(5), pp. 1337-1347. [8] Su, H. J., Dorozhkin, D. V., and Vance, J. M., 2009, 'A Screw Theory Approach for the Conceptual Design of Flexible Joints for Compliant Mechanisms,' ASME J. Mech. Rob., 1(4), pp. 041009. [9] Zhang, K. T., Dai, J. S., and Fang, Y. F., 2010, 'Topology and Constraint Analysis of Phase Change in the Metamorphic Chain and Its Evolved Mechanism,' ASME J. Mech. Des., 132(12), pp. 120001. [10] Zhang, W. X., Ding, X. L., and Dai, J. S., 2011, 'Morphological Synthesis of Metamorphic Mechanisms Based on Constraint Variation,' P I Mech. Eng. C-J Mec., 225(12), pp. 2997-3010. [11] Kang, C. H., and Yan, H. S., 2009, 'Configuration Transformations of Mechanisms with Variable Topologies,' Journal of the Chinese Society of Mechanical Engineers, 30(4), pp. 311-321. [12] Yan, H. S., and Kang, C. H., 2009, 'Configuration Synthesis of Mechanisms with Variable Topologies,' Mech. Mach. Theory, 44(5), pp. 896-911. [13] Chen, D. Z., and Pai, W. M., 2005, 'A Methodology for Conceptual Design of Mechanisms by Parsing Design Specifications,' ASME J. Mech. Des., 127(6), pp. 1039-1044. [14] Ullman, D. G., 2010, The Mechanical Design Process, McGraw-Hill Higher Education, Boston. [15] Freudenstein, F., and Maki, E. R., 1979, 'The Creation of Mechanisms Accordingto Kinematic Structure and Function,' Environ. Plann. B, 6(4), pp. 375-391. [16] Mayourian, M., and Freudenstein, F., 1984, 'The Development of an Atlas of the Kinematic Structures of Mechanisms,' J. Mech. Des., 106(4), pp. 458-461. [17] Nyseth, D. L., and Krampotich, D. J., 1999, [18] Tsai, L.-W., 1999, Robot Analysis : The Mechanics of Serial and Parallel Manipulators, Wiley, New York. [19] Kuo, C. H., and Yan, H. S., 2007, 'On the Mobility and Configuration Singularity of Mechanisms with Variable Topologies,' J. Mech. Des., 129(6), pp. 617-624. [20] Tsai, L.-W., 2001, Mechanism Design : Enumeration of Kinematic Structures According to Function, CRC Press, Boca Raton, FL. [21] T., L., and Yu, C. H., 1995, 'Identification and Classification of Multi-Degree-of-Freedom and Multi-Loop Mechanisms,' J. Mech. Des., 117(1), pp. 104-111. [22] Mruthyunjaya, T. S., and Raghavan, M. R., 1979, 'Structural Analysis of Kinematic Chains and Mechanisms Based on Matrix Representation,' J. Mech. Des., 101(pp. 488-494.
dc.identifier.uri	http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/61964	-
dc.description.abstract	可變拓樸機構是可以藉由轉換其拓樸結構以執行多種功能的機構。當可變拓樸機構展現其多種功能中之其中一種時，可變拓樸機構為處於多個階段中之其中一個階段。本論文主要目的在於呈現一套系統化的設計方法以概念合成可變拓樸機構。首先，根據功能需求，組成每一個階段之功能運動鍊以代替其功能桿件之特徵運動。接著，決定機構之迴路數目，並由功能運動鍊中所給定之接頭自由度以求出每一個迴路之最小可行維度。為了使不同階段的迴路可以互相轉換，其迴路之維度必須被驗證是否可行。並且，相鄰迴路之迴路介面也必須被確認以確保相鄰之迴路可以互相傳遞。當利用結構需求找出可行之運動結構後，將其與功能運動鍊互相結合可以得到帶有未定接頭之相容運動結構。最後，標記出這些未定接頭，可行的可變拓樸機構可以被設計完成並可履行給定之設計特徵。除此之外，給定部分接頭之位置並替換至螺旋之中，可以得到接頭之位置限制與方向限制，進而幫助可變拓樸機構之尺寸設計。根據本方法論，分類的設計特徵與運動相容性可以引導設計者系統化地執行方法中的各個程序。在本論文中，利用一個SMIF栓鎖機構當作例子以利說明。	zh_TW
dc.description.abstract	A variable topology mechanism (VTM) can execute variable functions by transforming its topology. A stage is a status that a VTM exhibits one of their many characteristic motions. This paper presents a systematic methodology for the conceptual design of VTMs satisfying the motion compatibility. From the characterized motions of functioning links, the functioning kinematic chain of each stage is constructed. After the number of the loops is decided, the minimum dimension of each loop can be derived from the known DOFs in the functioning kinematic chains. For successive transforming between different stages, the dimension of each loop should be evaluated. For effective transmission between adjacent loops, the loop interface of adjacent loops should be confirmed. Based on structural parameters, compatible kinematic structures with unspecified joints are identified. After labeling unspecified joints, feasible VTMs which fulfill the design specifications can be yielded. Substituting the locations of partial joints into the screws, the constraints on locations and orientations of joints are investigated to help the dimensional design of the VTMs. With this methodology, classified design specifications and motion compatibility are used to guide designer through various stages of the conceptual design process in a systematic manner. A SMIF latch mechanism is presented as an illustrative example.	en
dc.description.provenance	Made available in DSpace on 2021-06-16T13:20:48Z (GMT). No. of bitstreams: 1 ntu-102-R00522626-1.pdf: 3433334 bytes, checksum: 305f02f084d412bd71d7ced66059768d (MD5) Previous issue date: 2013	en
dc.description.tableofcontents	CHAPTER 1 Introduction 1 1.1 Variable topology mechanisms 1 1.2 Kinematotropic linkages and metamorphic mechanisms 2 1.3 Motion compatibility 3 1.4 Synthesis of VTMs 3 1.5 Motivation 4 CHAPTER 2 Design specifications for synthesizing VTMs 7 2.1 Design specifications of VTMs 7 2.2 The SMIF latch mechanism 7 CHAPTER 3 Construction of the functioning kinematic chains 12 CHAPTER 4 Dimension of the loops in a VTM 17 4.1 The number of loops of a VTM 17 4.2 Compatibility of active DOFs 18 4.3 Determination of the minimum dimension of a loop 20 CHAPTER 5 Compatible loop operation space in a VTMs 25 5.1 Compatibility of successive stages of a loop 25 5.2 Compatibility of loop interface between adjacent loops 29 CHAPTER 6 Construction of compatible kinematic structures 32 CHAPTER 7 Identification of Joints in VTMs 36 7.1 Labeling unspecified joints in compatible kinematic structures 36 7.2 Constraints on locations and orientations of joints 40 CHAPTER 8 Conclusions 44 References 45
dc.language.iso	en
dc.subject	可變拓樸機構	zh_TW
dc.subject	螺旋理論	zh_TW
dc.subject	運動相容性	zh_TW
dc.subject	機構合成設計	zh_TW
dc.subject	variable topology mechanism	en
dc.subject	mechanism synthesis	en
dc.subject	motion compatibility	en
dc.title	具有不變之桿件與接頭數目之可變拓樸機構概念設計方法	zh_TW
dc.title	A methodology for conceptual design of variable topology mechanisms with invariant number of joints and links	en
dc.type	Thesis
dc.date.schoolyear	101-2
dc.description.degree	碩士
dc.contributor.oralexamcommittee	謝文賓(Win-Bin Shieh),吳隆庸(Long-Iong Wu)
dc.subject.keyword	可變拓樸機構,機構合成設計,運動相容性,螺旋理論,	zh_TW
dc.subject.keyword	variable topology mechanism,mechanism synthesis,motion compatibility,	en
dc.relation.page	47
dc.rights.note	有償授權
dc.date.accepted	2013-07-25
dc.contributor.author-college	工學院	zh_TW
dc.contributor.author-dept	機械工程學研究所	zh_TW
顯示於系所單位：	機械工程學系

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