劉霆臺灣大學：機械工程學研究所林英隆Lin, Ying-LungYing-LungLin2007-11-282018-06-282007-11-282018-06-282006http://ntur.lib.ntu.edu.tw//handle/246246/61057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.Table of Contents Abstract ii Table of Contents iii List of Figures vii List of Tables xi Nomenclature xii Chapter 1 Introduction 1 1.1 Background 1 1.2 Literature Survey 3 1.3 Purpose of this Study 7 1.4 Outline of this Study 8 Chapter 2 Fundamentals 11 2.1 Properties of a Wire 11 2.1.1 Force on a wire 12 2.1.2 Kinematic constraint of a wire 13 2.2 Structure Representation of Mechanisms with Wires 14 2.2.1 Graph representation 14 2.2.2 Adjacency matrix representation 16 2.3 Degree-of-Freedom Equation 17 2.3.1 Basic degree-of-freedom equation of a mechanism with wires 17 2.3.2 Relative degree-of-freedom equation of a sub kinematic chain 19 2.3.3 Relation of degree-of-freedom equations 20 2.4 Mechanics of the Mechanism with Wires 24 2.4.1 Force and kinematic constraints 24 2.4.2 Force equilibrium in matrix form 26 2.5 Remarks 36 Chapter 3 Mechanics and Compatible Kinematic Constraints of Mechanisms with wires 37 3.1 Compatibility of Mechanics and Kinematic Constraints 38 3.1.1 Relations of mechanics and kinematic constraints 38 3.1.2 The state of matrix M 41 3.1.3 Conditions and solutions of the force equilibrium 45 3.1.4 Structure related conditions for compatibility 48 3.2 Restrained Status of Mechanisms with Wires 50 3.2.1 Restrained status 53 3.2.2 Geometrical constraints 54 3.2.3 Completely restrained kinematic chain 56 3.3 Degree-of-Freedom of Mechanisms with wires 58 3.3.1 DOF of mechanisms with wires having no partial restraints 59 3.3.2 DOF of mechanisms with wires having partial restraints 60 3.4 Kinematic Structure Conditions of Completely Restrained Mechanisms with Wires 61 3.5 Remarks 69 Chapter 4 Structural Analysis of Mechanisms with Wires 71 4.1 Type Classification 72 4.1.1 Preprocess 72 4.1.2 Type classification 77 4.2 Restrained Status Identification 80 4.2.1 Identification of CRKC 84 4.2.2 Identification of the restrained status of the whole mechanism 91 4.3 Degree-of-Freedom Analysis 96 4.3.1 Mechanisms with all adjustable length wires 100 4.3.2 Mechanisms with some fixed length wires 100 4.4 Case Study 107 4.4.1 Simple type mechanisms with wires 108 4.4.2 Hybrid type mechanisms with wires 116 4.4.3 Compound type mechanisms with wires 126 4.5 Remarks 129 Chapter 5 Structural Synthesis of Mechanisms with Wires 131 5.1 Conditions for the Synthesis of Completely Restrained Mechanisms with Wires 135 5.1.1 The minimum number of wires 135 5.1.2 Basic kinematic structure for synthesis 138 5.2 CR1 Mechanisms with Wires 140 5.3 CR2 Mechanisms with Wires 145 5.4 Completely Restrained Mechanisms with the Minimum Number of Wires 148 5.5 Case Study 151 5.6 Remarks 166 Chapter 6 Summary and Conclusions 167 6.1 Summary 167 6.2 Conclusions 172 6.3 Recommendations for the Future Works 174 Appendix General Properties of Solutions of Linear Systems 177 References 1791237245 bytesapplication/pdfen-US含線機構運動構造構造分析構造合成mechanisms with wireskinematic structurestructural analysisstructural synthesisthesishttp://ntur.lib.ntu.edu.tw/bitstream/246246/61057/1/ntu-95-F87522606-1.pdf