陳達仁臺灣大學：機械工程學研究所劉凱安Liu, Kai-AnKai-AnLiu2007-11-282018-06-282007-11-282018-06-282007http://ntur.lib.ntu.edu.tw//handle/246246/61145此篇論文將介紹可動型態需求的概念，並且經由這個概念來配置地桿和驅動運動對，進而達成平面連桿機構之拓樸分析。 本文首先說明了自由度型態(Type of Freedom)與可動型態(Mobility Type)之間的關係。簡而言之，運動鏈可藉由分類判斷是否有機會得到某種可動型態，並藉由運動對與地桿的配置方式得到所有可能的機構。 基於上述的關係，本文採用雙圖畫表示法來發展出一套有系統的平面連桿機構之驅動運動對及地桿配置表示法。由這套表示方式可使設計者更能夠了解輸入與輸出之間的關係，相信此一整理能有助於機構的選擇。The concept of mobility type requirement is introduced in this work. On the basis of mobility type requirement, the topological analysis of planar linkage mechanisms is accomplished with an oriented assignment of actuating pairs and ground link. In this thesis, the relation between type of freedom and mobility types is introduced. Briefly speaking, total mobility mechanisms can be obtained by assigning actuating pairs and ground link onto total and partial freedom kinematic chains; partial and fractionated mobility mechanisms can be obtained by assigning actuating pairs and ground link onto partial and fractionated freedom kinematic chains. On this concept, the systematic assigning processes of actuating pairs and ground link of planar linkage mechanisms are developed with a convenient tool, modified dual graph representation. According to these assigning procedures, designers can acquire fully constrained mechanisms with the expected mobility type.Table of Contents Chapter 1 Introduction……………………………………….….......1 1.1 Background………………………………….………………….........1 1.2 Overview of related works……………………...……………..........1 1.2.1 Topological synthesis…………………………………………...3 1.2.2 Topological analysis………………………………………….....5 1.2.3 Type of Freedom………………………………………………...6 1.2.4 Mobility Types……………………………………………………7 1.3 Study scope……………………………………………………………9 1.4 Motivation……………………………………………………..............9 1.5 Preview…………………………………………………………….…10 Chapter 2 Modified Dual Graph Representation………..….…….11 2.1 Definition of Dual graph representation……………………........... 11 2.2 Decision of independent loops…………………………...…............12 2.3 Modified dual graph representation…………………...……............13 Chapter 3 Loop Balancing……………….…………………………14 3.1 Basic Concept…………………………………………………………14 3.2 Loop Mobility Balancing………………………………………………15 Chapter 4 Relations between Freedom Types and Mobility Types……………………………………………….………………….17 4.1 Freedom Types of KCs………………………………………………17 4.2 Mobility Types of mechanisms………………………………………20 4.2.1 Total Mobility Mechanisms……………………………………….20 4.2.2 Partial Mobility Mechanisms……………………………………..22 4.2.3 Fractionated Mobility Mechanisms………………………………24 4.3 Relations between Freedom Types and Mobility Types…………..25 Chapter 5 Fulfillment of G and APs……………………………27 5.1 The Algorithm of G and APs deployment……………………………27 5.2 Design Examples (Total mobility)…………………………………….28 Chapter 6 Conclusions and Future Works……………………30 6.1 Conclusions……………………………………………...………….....30 6.2 Future Works…………………………………………………………...31 References………………………………………………………………………….32 Appendix Table A.1 Total KCs of M =1 to be total mobility………………….…………44 Table A.2 Total KCs of M =2, 3 to be total mobility……………………….…47 Table B.1 Partial KCs to be total mobility…………………………………….50 Table B.2 Partial KCs to be partial mobility…………………………….……53 Table B.3 Partial KCs to be fractionated mobility…………………………...57452168 bytesapplication/pdfen-US可動型態拓樸分析mobility typetopological analysisthesishttp://ntur.lib.ntu.edu.tw/bitstream/246246/61145/1/ntu-96-R94522637-1.pdf