臺灣博碩士論文加值系統

傳統上設計機構輸出運動特性的條件是等轉速輸入；若欲改變輸出的運動特性，則必須重新設計機構的幾何尺寸。針對此狀況，可以利用變轉速輸入的設計概念，不用改變原機構的尺寸，藉著輸入轉速的變化來達到不同運動特性輸出的目的。本研究針對曲柄滑塊機構、螺桿機構、及其複合機構，利用變轉速輸入的設計概念，來達到改善從動件運動與動力特性目的。
首先推導曲柄滑塊機構、螺桿機構、及複合機構的運動與動力分析理論，再以此為基礎提出一套變轉速函數的設計方法，進而利用最佳化方法分別求出改善曲柄滑塊機構、螺桿機構、及複合機構的運動與動力特性的輸入轉速函數。再者，設計與製作伺服控制實驗裝置，控制伺服馬達驅動曲柄滑塊機構、螺桿機構、及複合機構，經由調整控制器的控制參數，使伺服馬達產生所設計的轉速軌跡，並利用量測裝置讀取運動與動力特性數據，驗證變轉速理論的可行性。
研究結果指出，利用Bezier曲線設計轉速函數，可在不改變機構尺寸的情況下，其輸出符合預設運動條件，且具有較佳的運動與動力特性。另外，利用曲柄滑塊機構可以取代正反轉往復旋轉輸入運動，來延長馬達使用壽命，並且可以利用變轉速函數設計改善從動件的運動與動力特性。藉由本研究所建立的實驗裝置，所量測的運動與動力特性結果與理論值接近，證明本研究所推導之變轉速理論的可行性。

Traditionally, a designer assumes a constant input to design the output characteristics of the target mechanism. Based on such an assumption, if the required outputs are different, the dimensions of the mechanism should be redesigned. An alternative approach of achieving this goal without modifying the geometric dimensions of the mechanism is to design the mechanism with a variable input speed. This research uses such a design concept to improve the kinematic and dynamic characteristics of a slider-crank mechanism, a screw mechanism, and their compound mechanism. Multi-objective optimization methods
Firstly, the equations for analysing the kinematic and dynamic characteristics are derived. Then, a variable input speed function is designed along with applying multi-objective optimization methods to improve the output characteristics of the slider-crank mechanism, screw mechanism, and compound mechanism. The study also establishes a servo control device for controlling a servo motor to generate the desired input speed function for driving the three interested mechanisms. Furthermore, a device for measuring the output characteristics is used to verify the feasibility of the proposed theory.
The study shows that the Bezier curve is suitable for designing the variable input speed function to improve the output characteristics without modifying the dimensions of the interested mechanisms. Furthermore, the results of the compound mechanism show that the slider-crank mechanism can provide an equal input motion both in positive and negative directions of the motor. In addition, the experimental results are close to the theoretic values. This proves the feasibility of the proposed design approach.

摘要 I
Extended Abstract II
致謝 XII
目錄 XIII
表目錄 XVI
圖目錄 XVII
符號說明 XXIII
第一章 前言 1
1.1 研究動機 1
1.2 文獻回顧 2
1.3 研究目的 3
1.4 論文架構 4
第二章 曲柄滑塊機構運動與動力分析 6
2.1 運動分析 6
2.2 動力分析 8
2.3 無因次化運動方程式 12
2.4 小結 15
第三章 螺桿構運動與動力分析 16
3.1 運動分析 16
3.2 動力分析 18
3.3 無因次化運動方程式 20
3.4 小結 22
第四章 複合機構運動與動力分析 23
4.1 運動分析 23
4.2 動力分析 26
4.3 無因次化運動方程式 33
4.4 小結 36
第五章 轉速函數設計 37
5.1 Bezier曲線 37
5.2 最佳化設計 40
5.3 小結 43
第六章 設計實例 44
6.1 曲柄滑塊機構設計實例 44
6.2 螺桿機構設計實例 60
6.3 複合機構設計實例 74
6.4 小結 93
第七章 轉速函數控制 97
7.1 伺服控制系統 97
7.2 系統判別 98
7.3 PID控制器 100
第八章 實驗設備設計與測試 104
8.1 簡介 104
8.2 實驗設備 104
8.3 曲柄滑塊機構實驗結果 111
8.4 螺桿機構實驗結果 120
8.5 複合機構實驗結果 131
8.6 小結 143
第九章 結論與建議 150
9.1 結論 150
9.2 建議 151
參考文獻 152
著作權聲明 159

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