請用此 Handle URI 來引用此文件:
http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/67131
標題: | 利用傅立葉描述子合成四連桿路徑演生與物體導引機構 Synthesis of Four-Bar Linkage for Path Generation and Motion Generation Using Fourier Descriptor |
作者: | Cheng-Yuan Hsieh 謝承原 |
指導教授: | 李志中 |
關鍵字: | 傅立葉描述子,離散傅立葉,路徑演生,物體導引, Fourier Descriptor,Discrete Fourier Transform,Path Generation,Motion Generation, |
出版年 : | 2017 |
學位: | 碩士 |
摘要: | 傅立葉描述子在圖像辨識上具有極大的優點,因此利用傅立葉描述子可以突破傳統方法上四連桿機構合成其精確點數量有限的限制,進而提升合成效率。缺點是無法應用在開放曲線。本研究提出直接利用離散傅立葉解決具開放、封閉,及指定部分路徑耦桿點曲線機構之路徑演生合成問題。利用諧波函數在時域上的關聯合成具封閉耦桿點曲線之機構。對有無尖點的開放曲線,都可以將曲線轉成封閉曲線進而利用離散傅立葉做雙搖桿機構合成。指定部分路徑合成曲柄搖桿或雙曲柄機構的合成問題,則視為開放曲線之機構合成,簡化了問題本身。指定部分路徑同時,針對非指定部分提出區域限制,限制路徑不能經過特定區域,以及曲線本身不能重疊的兩種限制條件。本研究也提出將物體導引之合成問題視為路徑演生問題以做為雙搖桿機構合成之解決方式。本論文針對上述之問題分別提出演算法,以及數值範例。 The Fourier descriptor has various advantages in image recognition. It could be used to efficiently solve the synthesis of four-bar linkages which traditionally can only be treated by few precision points. However, its disadvantage is inapplicable to open curve. In this thesis, the discrete Fourier transform is used to solve path generation problem with closed loop, open-ended, or segment-assigned coupler curve. The relation of harmonic terms in time domain for the path and linkage parameters are established for the problem of closed loop curve, and open-ended curve with or without cusp. For synthesis of four-bar linkages with segment-assigned curve, it’s taken as the problem of open-ended, and two constraints which are area-forbidden and non-crunode curve are considered on non-assigned part. Also, synthesis of linkages for motion generation is investigated via the above-mentioned method. Subsequently, an optimization algorithms are developed to seek the optimal parameters such that errors between the desired path and the synthesized one is minimized. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/67131 |
DOI: | 10.6342/NTU201702971 |
全文授權: | 有償授權 |
顯示於系所單位: | 機械工程學系 |
文件中的檔案:
檔案 | 大小 | 格式 | |
---|---|---|---|
ntu-106-1.pdf 目前未授權公開取用 | 4.73 MB | Adobe PDF |
系統中的文件,除了特別指名其著作權條款之外,均受到著作權保護,並且保留所有的權利。