李志中臺灣大學：機械工程學研究所黃俊政Huang, Jiun-JengJiun-JengHuang2007-11-282018-06-282007-11-282018-06-282005http://ntur.lib.ntu.edu.tw//handle/246246/61255本文之內容為研究具間隙之接頭，以軸承對為主，分析具間隙接頭的接觸模式，並且進行接頭間隙所造成之機構位置誤差的分析；首先建立具間隙之接頭的受力模型，定義出間隙參數、內力，並以接觸點與受力的不同，分為數種接觸模式；再以桿件之重量、長度以及機構所加之負載、驅動力矩，定義出接頭所受之外力與外力矩，接著列出接頭靜態時的力與力矩平衡方程組，以非線性最小平方法，求出內力及其作用點，再以接觸點的位置推算出接頭偏斜的狀態，用平移誤差與旋轉誤差表示之，以這兩個誤差向量推導出具間隙之接頭的誤差轉換矩陣；接著將誤差矩陣插入機構無間隙時的理想轉換矩陣中，得到具間隙之機構的轉換矩陣；將數值代入矩陣中，計算出因間隙而偏移的機構終點位置，討論間隙對於機構的位置誤差之影響。In this thesis, contact modes of the joint with clearances are analyzed, and the type of joints focus on journal bearings. The analysis of position errors due to clearances in journal bearings is also performed. In order to analyze the force on the joint, the force model of the joint with clearances and contact modes are established. According to the contact point and the contact forces, several contact modes of the joint are determined. The external forces and moments of the joint are then determined by the weight of linkages, the length of linkages, external loads and the control torque. In order to determine the contact parameters and the magnitudes of the inertial forces, we have to solve the force and moment balance equations of the joint by the least square method. The translational position error and the rotational position error can be determined from the contact parameters, and translational position errors and rotational position errors are used to calculate the transform matrix of joints. The transform matrix of the mechanism with joint clearances can be determined by the transform matrix of the ideal mechanism and the transform matrix of joints. Numerical analysis and discussions of the position errors due to the joint clearances are given in the thesis.目 錄 誌謝 i 中文摘要 ii 英文摘要 iii 目錄 iv 表目錄 vi 圖目錄 vii 第一章 緒論 1 1.1 研究背景 1 1.2 研究目的 2 1.3 文獻回顧 3 1.4 論文架構 7 第二章 空間接頭間隙分析 8 2.1 平移誤差與旋轉誤差 8 2.2 具間隙之軸承對誤差模型 10 2.3 接觸模式之判定 21 2.4 間隙誤差矩陣之建立 29 2.5 其他空間誤差模型 34 2.5.1 空間滑動對之間隙誤差模型 34 2.5.2 空間圓球對之誤差模型 37 第三章 空間機構誤差模型之建立與分析 38 3.1 空間機構誤差模型之建立 38 3.2 Scorbot robot 機構接頭間隙分析 42 3.3 程式模擬 46 第四章 結論與建議 56 4.1 結論 56 4.2 建議 57 參考文獻 58 附錄A 61 附錄B 64 附錄C 67en-US間隙接觸模式位置誤差接觸力軸承對clearancecontact modeposition errorcontact forcejournal bearingthesis