可變拓璞機構之表示法與相容性

Abstract

可變拓璞機構是能在運行中改變拓璞結構的機構。透過改變拓璞結構，可變拓璞機構能以單一機構完成許多機構的功能。近年來，可變拓璞機構吸引許多研究，但卻沒有研究將這些機構分門別類，或以這些機構的運行空間討論它們。 這篇論文將可變拓璞機構分類。可變拓璞機構可分三類：以內在拘束改變拓璞、以幾何形狀改變拓璞、以外在拘束改變拓璞。機構的工作空間在論文中以運作空間和螺旋的方式表示。許多機構的特性被發現︰一個接頭何時會提供拘束去鎖住其他接頭被辨認、何者為可行的迴路交界對被辨認、不同工作階段相容的條件被辨認。因此，一些組成可行可變拓璞機構的條件被發現，替往後系統化可變拓璞機構合成打下基礎。 憑藉可變拓璞機構的特性，新的可變拓璞機構得以被合成。一個成功找尋到新設計的可變拓璞機構合成範例在此論文中被呈現。

A variable topology mechanism is a mechanism which is capable of changing its topological characteristics during motion. Through changing their topology, variable topology mechanisms can serve functions of many mechanisms using only one mechanism. These mechanisms have raised interest and attracted studies in recent years, yet few have consolidated different types of mechanisms, or discussed them in light of their operation space. This thesis classifies the variable topology mechanisms. Variable topology mechanisms are classified into three types: topology changed by intrinsic constraints; topology changed by joint geometry profile; and topology changed by external constraints. Expressions of the mechanism’s working space are presented with operating spaces and screws. Characteristics are identified: whether a joint provides constraints to lock up other joints are verified. The admissible operating space for compatible loop interface pairs is identified. The requisites of different working stages being workable with each other are also identified. As a result, some basic requirements for admissible variable topology mechanisms are unveiled, laying a foundation for systematical synthesis of variable topology mechanisms. With characteristics of variable topology mechanisms, new mechanisms of the kind can be synthesized. An instance of synthesizing a variable topology mechanism and a new design is presented.