On the Study of Structural Analysis and Synthesis of Mechanisms with Wires
Date Issued
2006
Date
2006
Author(s)
Lin, Ying-Lung
DOI
en-US
Abstract
含線機構是一種特殊機構，在此機構中含有撓性機械元件–線，可以用來驅動桿件、拘束桿件運動以及傳遞力。由於線必須在緊繃的狀態下才能產生功效，因此含線機構的運動分析必須考慮線張力，且含線機構的運動拘束必須與線張力以及其他作用於含線機構上的力一致。此特性是含線機構與一般機構不同之處，必須在進行構造分析與合成時特別考慮。本研究首先探討含線機構的力學與運動拘束間的關係，建立兩者間的一致性，充分地瞭解含線機構的特性，以作為構造分析與構造合成的基礎。然後提出一系統化構造分析方法，包含類型分類、拘束狀態檢驗以及自由度分析，可以對簡單型、混合型及複合型的含線機構分析拘束狀態以及自由度。最後，本研究提出一構造合成方法，可以合成出具有完全拘束狀態且含最少線數目的含線機構。經由本研究的探討，含線機構的運動構造與力學的關係已於本研究中清楚地討論及描述，並完整地建立兩者間的一致性。經由理論基礎的建立，系統化的含線機構構造分析及合成方法也於本研究中發展完成。本研究所發展之理論與方法，將可有助益於對含線機構之概念設計及未來可能的應用與發展。
The mechanisms with wires are the special mechanisms with links connected by wires in which the wires, the flexible elements, could drive the links, impose kinematic constraints on the links, and transfer force between links in the mechanisms. However, because the wires are necessarily tight in order to function, the kinematic analysis of mechanisms with wires should concern the wire tensions, and the kinematic constraints in the mechanisms with wires should be compatible with the interaction of wire tensions and other forces acting on the mechanisms. This characteristic of mechanisms with wires leads to the difference between mechanisms with wires and ordinary mechanisms and should be considered for structural analysis and synthesis. In this study, the relations between mechanics and kinematic constraints of mechanisms with wires are studied for constructing the compatibility of mechanics and kinematic constraints firstly. The nature of mechanisms with wires is studied sufficiently as the fundamentals for structural analysis and synthesis. Then, the systematic structural analysis approach is proposed, including type classification, restrained status identification, and degree-of-freedom analysis for analyzing the restrained status and degree-of-freedom of the simple, hybrid, and compound type mechanisms with wires. Finally, the structural synthesis approach is proposed for the synthesis of the completely restrained mechanisms with the minimum number of wires for a given kinematic structure. Through this study, the relations between kinematic constraints and mechanics of mechanisms with wires are clarified and realized, and the compatibility of mechanics and kinematic constraints is constructed completely. The systematic structural analysis and synthesis of mechanisms with wires, therefore, could be processed accordingly. The work shall be helpful for the conceptual design and applications of this specific type of mechanisms.
Subjects
含線機構
運動構造
構造分析
構造合成
mechanisms with wires
kinematic structure
structural analysis
structural synthesis
Type
thesis
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