陳達仁Chen, Dar-Zen臺灣大學:機械工程學研究所孫偉舜Sun, FrederickFrederickSun2010-06-302018-06-282010-06-302018-06-282009U0001-1808200916301000http://ntur.lib.ntu.edu.tw//handle/246246/187226可變拓璞機構是能在運行中改變拓璞結構的機構。透過改變拓璞結構，可變拓璞機構能以單一機構完成許多機構的功能。近年來，可變拓璞機構吸引許多研究，但卻沒有研究將這些機構分門別類，或以這些機構的運行空間討論它們。篇論文將可變拓璞機構分類。可變拓璞機構可分三類：以內在拘束改變拓璞、以幾何形狀改變拓璞、以外在拘束改變拓璞。機構的工作空間在論文中以運作空間和螺旋的方式表示。許多機構的特性被發現︰一個接頭何時會提供拘束去鎖住其他接頭被辨認、何者為可行的迴路交界對被辨認、不同工作階段相容的條件被辨認。因此，一些組成可行可變拓璞機構的條件被發現，替往後系統化可變拓璞機構合成打下基礎。藉可變拓璞機構的特性，新的可變拓璞機構得以被合成。一個成功找尋到新設計的可變拓璞機構合成範例在此論文中被呈現。A variable topology mechanism is a mechanism which is capable of changing its topological characteristics during motion. Through changing their topology, variable topology mechanisms can serve functions of many mechanisms using only one mechanism. These mechanisms have raised interest and attracted studies in recent years, yet few have consolidated different types of mechanisms, or discussed them in light of their operation space.his thesis classifies the variable topology mechanisms. Variable topology mechanisms are classified into three types: topology changed by intrinsic constraints; topology changed by joint geometry profile; and topology changed by external constraints. Expressions of the mechanism’s working space are presented with operating spaces and screws. Characteristics are identified: whether a joint provides constraints to lock up other joints are verified. The admissible operating space for compatible loop interface pairs is identified. The requisites of different working stages being workable with each other are also identified. As a result, some basic requirements for admissible variable topology mechanisms are unveiled, laying a foundation for systematical synthesis of variable topology mechanisms.ith characteristics of variable topology mechanisms, new mechanisms of the kind can be synthesized. An instance of synthesizing a variable topology mechanism and a new design is presented.Chapter 1 Introduction 1.1 Metamorphic mechanisms 1.2 Kinematotropic mechanisms 2.3 Joints changed by geometry 3.4 SMIF latch mechanisms 4.5 The tools of screw theory 6.6 Motivation 6hapter 2 Variable topology mechanisms 8.1 Variable kinematic joints and variable topology mechanisms 8.2 Types of variable topology mechanisms 8.3 Example: A typical variable topology mechanism 10art A: Variable topology mechanism breakdown with operating spaces 12hapter 3 Operating space representation 12.1 Operating space of joints 12.2 Operating space of loops 13.3 Operating space of mechanisms 14.4 Supplment graph representation: An example of typical variable topology mechanism 14hapter 4 Various constraints inducing a variable topology in perspective of operating spaces 18.1 Intrinsic and external constraints 18.2 Geometry change 19hapter 5 Generic stage and the degenerated stages 21hapter 6 Compatibility of operating spaces 23.1 Joint compatibility 23.2 Loop compatibility 23.3 Working stage compatibility 24.4 Manipulating the compatibility 25art B: Variable topology mechanism breakdown with screw theory 27hapter 7 Screw representation 27.1 Screws of joints 27.2 Screws of loops and mechanisms 28.3 Screws of a typical variable topology mechanism 29hapter 8 Various constraints inducing a variable topology in perspective of screws 35.1 Intrinsic and external constraints 35.1.1 Intrinsic constraints 35.1.2 External constraints 37.2 Geometry change 37hapter 9 Generic stage and the degenerated stages 38hapter 10 Compatibility of screws 400.1 Joint compatibility 400.2 Loop compatibility 400.3 Working stage compatibility 410.4 Manipulating the compatibility 42hapter 11 Synthesis of a variable topology mechanism 45hapter 12 Conclusions and future works 542.1 Conclusions 542.2 Furure works 54EFERENCES 56818336 bytesapplication/pdfen-US可變拓墣相容性運動空間variable topologycompatibilityoperating spacethesishttp://ntur.lib.ntu.edu.tw/bitstream/246246/187226/1/ntu-98-R96522622-1.pdf