陳達仁臺灣大學：機械工程學研究所黃駿逸Huang, Chun-YiChun-YiHuang2007-11-282018-06-282007-11-282018-06-282005http://ntur.lib.ntu.edu.tw//handle/246246/60939With proper design of geometric configurations and spring constant, a spring counter-balanced mechanism is capable of achieving static balance at arbitrary point by reconciling the variation of potential energy with the elastic potential energy. Since the mechanism absorbs the variation of potential energy spontaneously, it takes less effort to move objects so that the dependence on extra power sources can be diminished. And thus, we can reduce the wear and tear from the friction of mechanism. In this study, a spring balancing method on the base according to the potential energy transformation theory will be developed. The novel configurations of complicated link structure can simply be established on the topological design. By significant functional requirements, novel configurations with priority properties will be determined to replace the existing two-bar and four-bar spring balancing mechanisms. The geometric relations among link lengths are derived to construct the mechanism which is corresponded to the required novel configurations. And with the mathematical principles, the spring constant can be directly obtained to accomplish the desired static balancing mechanism.Chapter 1 Introduction 1 1.1 Background 1 1.2 Overview of Related Works 3 1.2.1 Single-dof spring balancing mechanisms 3 1.2.2 Multi-dof spring balancing mechanisms 4 1.3 Motivation and Preview 6 Chapter 2 Two-bar Spring Balancing Mechanism 9 2.1 Introduction 9 2.2 Feasible spring installing conditions 9 2.2.1 Tensional spring 9 2.2.2 Compression spring 13 2.3 Performance 15 2.4 Summary 16 Chapter 3 Four-bar Spring Balancing Mechanism 17 3.1 Introduction 17 3.2 Configuration for single-spring installation in four-bar spring balancing mechanism with a single spring 18 3.3 Performance 23 3.4 Summary 23 Chapter 4 Balancing Constraints for Spring Balancing Mechanism 24 4.1 Introduction 24 4.2 Spring Balancing Unit 24 4.2.1 Graph representations and formulas 24 4.2.2 Connection rules 30 4.3 Summary 32 Chapter 5 Configuration Synthesis for Six-bar Spring Balancing Mechanism 33 5.1 Introduction 33 5.2 Feasible Mechanism 34 5.3 Dimension synthesis for admissible configuration 37 5.4 Spring installation 48 5.5 Summary 56 Chapter 6 Conclusions and Future Work 57 6.1 Conclusion 57 6.2 Future Work 57 References 59 Appendix 61770666 bytesapplication/pdfen-US彈簧平衡機構六連桿機構平行機構平行四邊形機構拓樸合成彈簧平衡單元向量迴路法spring balancing mechanismsix-bar linkagesparallel linkagesparallelogram linkagestopological synthesisspring balancing unitloop closure equationthesishttp://ntur.lib.ntu.edu.tw/bitstream/246246/60939/1/ntu-94-R92522616-1.pdf