陳達仁臺灣大學：機械工程學研究所李思宏LEE, Szu-HungSzu-HungLEE2007-11-282018-06-282007-11-282018-06-282005http://ntur.lib.ntu.edu.tw//handle/246246/61203A variable topology mechanism is a mechanism which is capable of changing its topological characteristics during motion. The differences of variable topology mechanisms between stages are caused by the changes of variable kinematic joints. By changing its topological characteristic, the variable topology mechanism can achieve different motion requirements in different stages. In this thesis, the topological synthesis of single D.O.F. variable topology mechanisms is performed. There is only one input in single D.O.F. variable topology mechanisms discussed in this thesis, and the input motion remains the same between different stages. According to the motion description and compatibility analysis for two-stage latch mechanisms and the Geneva mechanism, the characteristics of variable topology mechanisms are investigated. It is shown that the joint located between two adjacent joints with changing relative motion is a variable kinematic joint. All variable kinematic joints in a variable topology mechanism should change their operating space for the same plane. There should be an intersection line or an overlap plane between operating spaces of two adjacent joints. There should be an intersection line or an overlap plane between the operating space of a variable kinematic joint at one of the stages and the follow-up stage. With characteristics of variable topology mechanisms, the conceptual design procedure can be conducted. By specifying motion requirements, the variable topology mechanism can be determined to be a planar or a spatial mechanism at each stage. A joint can be verified as a variable kinematic joint or a non-variable kinematic joint according to the relative motion of the attached links. The operating space of a non-variable kinematic joint can be determined by motion requirements, but it is necessary to consider the characteristics. The operating spaces of variable kinematic joints attached to the ground at the first stage can be determined by motion requirements. The operating spaces at the following stages can be determined according to the motion requirements and the compatibility between stages. The operating spaces of other variable kinematic joints at every stage can be determined by motion requirements and the compatibility between adjacent joints. The compatibility of change in operating space of all variable kinematic joints should be checked. Then the joint types of all joints can be specified, and existing designs are checked. After checking existing designs, the new designs are embodied. At last, the design of two-stage latch mechanisms is presented as the design example.Chapter 1 Introduction 1 1.1 Background and motivation 1 1.2 Overview of Related Works 4 1.2.1 Kinematotropic mechanisms 4 1.2.2 Metamorphic mechanisms 6 1.2.3 Mechanisms with variable chains or topologies 7 1.2.4 Synthesis of latch mechanisms 9 1.3 Preview 10 Chapter 2 Single D.O.F. variable topology mechanisms 12 2.1 Latch mechanisms for wafer containers 12 2.1.1 The standard mechanical interface technology 12 2.1.2 Latch mechanisms 14 2.1.3 One-stage latch mechanisms 14 2.1.4 Two-stage latch mechanisms 28 2.2 Geneva mechanisms 41 2.3 Summary 43 Chapter 3 Definitions and Characteristics of single D.O.F. variable topology mechanisms 45 3.1 Definitions 45 3.1.1 Variable topology mechanism 45 3.1.2 Variable kinematic joint 45 3.2 Characteristics of variable topology mechanisms 46 3.3 Summary 49 Chapter 4 Design of variable topology mechanisms 50 4.1 Design methodology and procedure 50 4.1.1 Design procedure 51 4.1.2 Limitations of the design methodology and procedure 52 4.2 Design of new variable topology mechanism 53 4.3 Design of the two-stage latch mechanism 54 4.3.1 Motion requirements 54 4.3.2 Verification of variable kinematic joints 55 4.3.3 Operating spaces of the non-variable kinematic joint 56 4.3.4 Operating spaces of variable kinematic joints 56 4.3.5 Joint types according to the operating spaces 59 4.3.6 Check existing design 60 4.3.7 New variable topology mechanism designs 61 4.4 Summary 67 Chapter 5 Conclusions & future works 68 5.1 Conclusions 68 5.2 Future works 69 REFERENCES 70501413 bytesapplication/pdfen-US機構可變拓樸機構可變運動對MechanismVariable topology mechanismVariable kinematic jointthesis