探討過拘束機構之瞬心軸與軸線面特性

Abstract

本論文使用瞬時螺距速度矩陣求解Bennett機構、Bricard機構、Franke機構及Wohlhart機構之瞬心軸，並繪製運動範圍內瞬心軸組合成的軸線面。Bricard機構、Franke機構及Wohlhart機構為具有不同對稱特性的空間六連桿過拘束機構。通過求解這三個機構的瞬心軸後，觀察其軸線面，其中Franke機構的軸線面呈現面對稱的特徵。此外，本論文透過雙三次Hermite 曲面擬合，繪製出Bennett機構之軸線面，並觀察討論Bennett軸線面的直紋曲面參數式與雙曲面參數式相似的特徵。

This thesis determines the instant screw axes of Bennett mechanism, Bricard mechanism, Franke mechanism and Wohlhart mechanism with the velocity matrix of instant pitch, and plots the axodes formed by all instant screw axes. The Bricard, Franke, and Wohlhart mechanisms are spatial six-bar overconstrained mechanisms with different symmetry characteristics. By observing the axodes of these three mechanisms, revealing that the ruled surface of the Franke mechanism exhibits plane symmetry characteristics. Additionally, this thesis uses bicubic Hermite surface fitting to plot the axode of the Bennett mechanism and discusses the similarities between the axode of the Bennett and hyperbolic surfaces in ruled suface parametric representation form.