2004-08-012024-05-18https://scholars.lib.ntu.edu.tw/handle/123456789/711790摘要：本研究擬探討具雙滾動接觸四桿機構的尺寸合成問題。研究分為二個部份，第一部分建立剛體導引機構、路徑衍生機構、以及函數產生機構的合成方程組，並討論上述機構合成問題在應用上能達到的最多精確點位置個數。研究過程中，擬採用複數法來分析機構的合成。第二部分則擬用最佳化方法解上述機構的合成方程組，並以電腦作圖了解設計出的機構之運動狀態，討論運動中會發生的不合理問題。本研究的貢獻，可用於機械手指挾持物件之尺寸設計。<br> Abstract: In this proposed work, the kinematic synthesis of a four-bar mechanism with two rolling pairs is to be studied. The design equations of the four-bar mechanism as motion generator, path generator, and function generator are first respectively established. The admissible numbers of precision positions are also discussed. Then the design equations are to be solved by the optimization method rather than the continuation method. The synthesized solutions will be discussed to show the kinematic states of the mechanism. It is hoped that the methodology developed can be helpful for the design of robot grippers.滾動接觸運動合成剛體導引路徑衍生函數產生最佳化方法Rolling contactKinematic synthesisMotion generationPath generationFunction generationOptimization method