2019-02-012024-05-17https://scholars.lib.ntu.edu.tw/handle/123456789/687777摘要：Chebychev–Gr&#252;bler–Kutzbach自由度判斷準則可以有效率地根據桿件數量、接頭種類與每一種接頭的數量預測機構的自由度。但有部分的機構，因為具有特殊的桿件尺寸，所以即使不合乎自由度判斷準則，仍能產生拘束運動。這類型的機構被稱為過拘束機構或矛盾機構。由於與自由度判斷準則預測的結果不一致，導致人們經常忽略了這類型機構的存在，更遑論將這種機構用於工業應用上。因此，如何在不參考自由度判斷準則的前提下合成該類型的機構便成為了具挑戰性的步驟。 本計畫基於拓展空間過拘束機構類型之目的，預計建&#63991;一套有系統性的拓撲合成法。本計畫預定以三年完成研發目標。第一年的計畫內容將藉由組合空間開迴路連桿以合成對稱型與反對稱型的過拘束機構；第二年的計畫內容將首次嘗試組合兩種不同的空間四連桿機構(Bennett機構與空間RPRP過拘束機構)以合成非對稱型的過拘束機構；第三年的計畫內容將建立一套通用的拓撲合成法，可系統化合成出各種不同機構組合而成的過拘束機構。此外，本計畫將探討新機構的可重構性。為驗證機構的可動度，本研究將分析推導各接頭對輸入接頭的關係式。相關成果將有助於空間過拘束機構的學理基礎及工業應用之&#63851;考。 <br> Abstract: Chebychev–Gr&#252;bler–Kutzbach criterion can be used to predict the mobility of a mechanism according to the number of links, types of joints, and the number of each kind of joint. However, there exist some mechanisms, which violate the mobility predictions while having constrained motions due to special geometries or dimensions. These mechanisms are commonly known as paradoxical or over-constrained mechanisms. Due to the inconsistency of the mobility equation, ones may ignore the existence of such mechanisms, let alone implement such mechanisms into industrial applications. Thus, how to bypass the mobility equation for the synthesis of such potentially valuable mechanisms becomes a challenging topic in mechanism and machine science. This project aims at expanding types of over-constrained mechanisms by proposing a systematic method for topological synthesis. The term of proposed project is three years. The contents of this project in the first year are to synthesize both symmetrical and asymmetrical types of over-constrained mechanisms by combining spatial open-loop triads; the contents of this project in the second year are to synthesize non-symmetrical mechanisms, for the first time, based on an assembly of two different spatial mechanisms (A Bennett mechanism and a spatial RPRP over-constrained mechanism); the contents of this project in the third year is to build up a general methodology for topological synthesis, which can be used to systematically synthesize new mechanisms using combinations of two different mechanisms. In addition, this project will discuss the reconfigurable characteristics of synthesized mechanisms. To validate the mobility of derived mechanisms, input-output equations between joints will be derived. It is expected that discovered mechanisms will be beneficial to fundamental research and potential application of over-constrained mechanisms.過拘束機構拓撲合成重構分析Over-Constrained MechanismsTopological SynthesisReconfiguration Analysis