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標題: | 平面連桿機構之模組化力學分析方法 A Modular Method for Force Analysis of Planar Linkages |
作者: | Cheng-Che Tai 戴振哲 |
指導教授: | 徐冠倫(Kuan-Lun Hsu) |
關鍵字: | 模組化方法,平面連桿機構,力學分析,敏感度分析,機械誤差分析, modular method,planar linkage,force analysis,sensitivity analysis,mechanical error analysis, |
出版年 : | 2021 |
學位: | 碩士 |
摘要: | 本文提出一模組化方法以分析平面連桿機構之力學分析,藉由建立以Assur group分類出的二連桿基礎模組(RR機械手臂、PR機械手臂、RP機械手臂)的力學方程式,套用至各種連桿機構之力學分析,藉此處理各種平面連桿的靜力學與動力學問題。此模組化方法相較於傳統閉迴路法有以下優勢,其一為在處理多連桿力學問題時不須進行複雜的聯立方程式計算,只需重複套用三個基礎模組。其二為不須為每個不同的新機構重新推導力學方程式,可將新機構進行模組化拆解,將所需要的參數代入三種基礎模組之副函式,即可求解機構之力學分析。此外,本文提供一以力學的觀點進行機械誤差分析之方法。透過將機械誤差問題與力學分析結合,三種基礎模組的靜力平衡方程式可被運用於求解機構之誤差敏感度及機械誤差。 This thesis proposes a modular method to analyze the force analysis of the planar linkages, by establishing the equilibrium equations of the two-link basic modules (RR dyad, PR dyad, RP dyad) classified by Assur group, and applying these equations to the force analysis of various linkage mechanisms, so as to deal with the statics and dynamics problems of various planar linkages. Compared with the traditional closed-loop method, this modular method has the following advantages. One is that it does not need to perform complex simultaneous calculations when dealing with multi-link force problems. It and only needs to repeatedly apply three basic modules. The second is that it is not necessary to re-derive the equations for each different new mechanism. The new mechanism can be modularized and disassembled, and the required parameters can be substituted into the auxiliary functions of the three basic modules to solve the force analysis of the mechanism. In addition, this article provides a method for solving mechanical error analysis from a statics point of view. By combining mechanical error problems with force analysis, the static equilibrium equations of three basic modules can be used to evaluate the error sensitivity and the mechanical error of the mechanism. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/8499 |
DOI: | 10.6342/NTU202100447 |
全文授權: | 同意授權(全球公開) |
顯示於系所單位: | 機械工程學系 |
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U0001-0302202113043300.pdf | 4.19 MB | Adobe PDF | 檢視/開啟 |
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