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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 李志中 | |
| dc.contributor.author | Sheng-Lun Hu | en |
| dc.contributor.author | 胡勝倫 | zh_TW |
| dc.date.accessioned | 2021-06-13T08:05:22Z | - |
| dc.date.available | 2005-07-26 | |
| dc.date.copyright | 2005-07-26 | |
| dc.date.issued | 2005 | |
| dc.date.submitted | 2005-07-21 | |
| dc.identifier.citation | 1. Kerr,J.,Roth,B.,1986,“Analysis of Multifingered Hands,”The Int. J. of Robotics Research,Vol.4, No. 4, pp.3-17.
2. Gibson, D., and Kramer, S., 1984, “Kinematic Design and Analysis of the Rack-and-Gear Mechanism for Function Generation,”Mechanism and Machine Theory, Vol.19, No. 3, pp.369-375. 3. Duschl, P., and Kramer, S. 1987 “Kinematic Synthesis and Analysis of the Rack and Pinion Mechanism for Planar Path Generation and Function Generation for Six Precision Condition,”Mechanism and Machine Theory, Vol. 22, No. 6, pp563-568. 4. 吳一潔, “具雙滾動接觸對平面四桿機構之尺寸合成”, 國立台灣大學機械工程研究所碩士論文, 民國九十年六月。 5. 蔡育偉，“具雙滾動接觸對機構之最佳路徑合成”，國立台灣大學機械工程研究所碩士論文, 民國九十二年七月。 6. 陳鈞泊, “多指式機械手之數目合成與運動分析”, 國立台灣大學機械工程研究所碩士論文, 民國八十九年六月。 7. Sheth, P, N. and Uicker, J. J., 1971, “A Generalized Symbolic Notation for Mechanisms,”J. of Engineering for Industry. 8. Roth, B., and Freudenstein, F., 1963, “Synthesis of Path-Generating Mechanisms by Numerical Methods,” ASME Journal of Engineering for Industry, Vol. 85 , 298-306. 9. Tasi, L. W., and Lu, J. J., 1990, “Coupler-Point-Curve Synthesis using Homotopy Methods,” ASME Transactions, Journal of Mechanical Design, Vol. 112, No. 3, pp. 384-389. 10. Starns, G., and Flugrad, D.R., 1993, “Five-Bar Path Generation Synthesis by Continuation Methods,” ASME Transactions, Journal of Mechanical Design, Vol. 115, No. 4, pp. 988-994. 11. Wang, L. T., and Chen, C. C., 1991, “A Combined Optimization Method for Solving the Inverse Kinematics Problem of Mechanical Manipulators,” IEEE Transactions on Robotics and Automation. Vol. 7, No. 4, August 1991, pp. 489-499. 12. Wang, L. T., and Chen, C. C., 1993, “On the Numerical Kinematic Analysis of General Parallel Robotic Manipulators,” IEEE Transactions on Robotics and Automation. Vol. 9, No. 3, June 1993, pp. 489-499. 13. Optimization Toolbox User’s Guide, Version 2, 2000, The Math Works Inc. | |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/36555 | - |
| dc.description.abstract | 本文探討具滾動接觸夾爪機構的運動合成問題。本文分為三部分，第一部分對於已經建立的剛體導引運動方程式，討論其運動合成時的自由設定的變數個數與方程式個數關係。第二部分為以最佳化方式解運動方程式，並以圖解討論機構的運動狀態。第三部分為用運動分析的方式，解析最佳化合成之結果，證明此法可有效的找出合成方程式的解。 | zh_TW |
| dc.description.abstract | In this paper, the kinematic synthesis of a chopstick-type gripping mechanism containing rolling pairs is studied. The design equations of the mechanism used as a rigid-body guidance are established. The number of free choices in design variables in the kinematic synthesis is also discussed. The optimization-based numerical technique is applied to solve the design equations. The synthesized solutions are illustrated to discuss the kinematic states of the mechanism. It is also shown that the optimization-based method is effective in finding the admissible synthesis solution of the mechanism. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-13T08:05:22Z (GMT). No. of bitstreams: 1 ntu-94-R92522622-1.pdf: 1963423 bytes, checksum: a302c39b919035bcb0b4a14094ab1dfc (MD5) Previous issue date: 2005 | en |
| dc.description.tableofcontents | 致謝 i
中文摘要 ii 英文摘要 iii 目錄 iv 表列 vi 圖列 vii 第一章 緒論 1 1-1 前言 1 1-2 文獻回顧 1 1-3 研究目的 2 1-4 本文架構 3 第二章 平面滾動與具雙滾動接觸對機構之分析 4 2-1 轉換矩陣法 4 2-1-1 Sheth-Uicker之轉換矩陣法 4 2-1-2 表面接觸物體之P矩陣 11 2-2 具雙滾動接觸對運動分析 13 2-2-1 轉換矩陣運動方程式 13 2-2-2 運動分析 19 第三章 剛體導引機構 22 3-1 耦桿上一點之剛體導引機構數學模式 22 3-2 剛體導引機構指定精確點位置個數與合成解的個數之關係 28 3-3 耦桿圓心之剛體導引機構數學模式 29 第四章 具雙滾動接觸對機構分析與合成 32 4-1 耦桿一點之剛體導引機構合成實例 32 4-1-1 合成步驟 32 4-1-2 四點剛體導引機構合成 35 4-2 以圓心作為剛體導引合成之實例 40 4-3 剛體導引分析實例 44 4-4 總結 47 第五章 結論與未來研究方向 48 5-1 結論 48 5-2 未來研究方向 49 參考文獻 50 | |
| dc.language.iso | zh-TW | |
| dc.title | 以最佳化方法求解具滾動接觸四桿機構之剛體導引運動 | zh_TW |
| dc.title | Solving for Rigid-body Guidance of the Four-link Mechanism with Rolling Pairs by Optimization Method | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 93-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 謝文賓,林鎮洲,陳達仁 | |
| dc.subject.keyword | 多指式夾爪機構,滾動接觸,剛體導引,最佳化, | zh_TW |
| dc.subject.keyword | chopsticks-type gripping mechanism,rolling pairs,rigid-body guidance,optimization, | en |
| dc.relation.page | 51 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2005-07-21 | |
| 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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