臺灣博碩士論文加值系統

連桿組能否能被使用者採用的主要因素，除了其本身的運動特性能否滿足使用者的需求外，另一重要指標為是否具有良好的動力性能，對於高速運轉機構尤為重要。然而，傳統連桿組的設計方法，運動(尺寸)合成與動力設計是採分離設計的方式來執行，且輸入桿通常是以定轉速驅動。由於，機構的動力性能除了受其慣性性質的影響，亦受其運動特性的左右，而機構的運動特性又受其輸入桿運動特性所控制，因此本研究應用變轉速輸入的觀念，對四連桿組提出一個將運動合成、動力設計、及伺服控制整合於同一設計步驟中的設計方法，並產出具期望的輸入與輸出運動特性及動力平衡性能之伺服四連桿組。本研究經由適當地設計輸入轉速軌跡、平衡參數、及連桿尺寸，可設計出滿足運動設計需求與限制及具權衡動力平衡性能的伺服四連桿組。本研究應用Bezier曲線進行輸入轉速軌跡設計及最佳化的方法求取最佳的設計參數值。此外，並針對本設計方法提出一富彈性的設計流程，設計者可根據其設計需求與限制，在輸入轉速軌跡設計、平衡參數設計、及連桿尺寸設計間，選擇適當的組合進行整合設計。本研究根據提出的設計方法，分別針對在無外加負荷作用及有外加負荷作用的狀況下，及採用不同的平衡參數設計模型(即連桿配重模型與兩點質量模型)，和在不同的運動設計需求與限制的要求下，進行本整合設計方法的實例驗證；各設計實例的結果，證明了本設計方法的可行性。再者，本設計方法可推廣應用於四桿以上的連桿組或其它不同形態的機構。

The main factors the linkages are applied are whether they possess the expected kinematic characteristics and acceptable dynamic performance or not. Kinematic dimensional synthesis and dynamic design are both essential steps in the development of mechanisms. However they are usually treated as separated stages in the design process. And traditionally, the input speed of the driving link is assumed constant. Moreover dynamic performance of the mechanisms is affected by its inertial properties and kinematic characteristics. And kinematic characteristics of the mechanisms are dominated by kinematic characteristics of its driving link. Therefore, a novel approach that integrates the kinematic synthesis, dynamic design and servo control in one design stage is presented by means of variable input speed for designing four-bar linkages with external applied loads. This approach satisfies kinematic design requirements and constraints and also attains trade-off of dynamic balance. By properly designing the speed trajectory of the input link, the balancing parameters of moving links and link dimensions of the given or desired mechanisms, the expected input and output motion characteristics and dynamic balancing performance are obtained. The speed trajectory of the input link is designed with Bezier curve. Optimization is aided to find out optimal design parameters for achieving kinemaic and dynamic design requirements and constraints. And, a flexible design flow chart is presented. According to the design requirements and constraints, designers could select properly combination among designing of the speed trajectory of the input link, the balancing parameters of moving links and link dimensions of the given or desired mechanisms to do the integrated design.
Examples that include with external applied loads, without external applied loads, with different balancing parameters and with different kinematic design requirements and constraints are given. The results prove the feasibility of this approach. Furthermore, this design approach can be extended to linkages that have more than four bars or other types of mechanisms.

封面
摘要
英文摘要
誌謝
目錄
圖目錄
表目+C55錄
第一章　前言
１．１　研究動機
１．２　研究背景
１．３　研究目的
１．４　論文架構
第二章　運動合成
２．１　基本概念
２．２　複數模式
２．３　並矢型式
２．４　運動合成
２．４．１　路徑產生
２．４．２　運動產生
２．４．３　函數產生
２．５　結論
第三章　運動分析
３．１　位置分析
３．２　速度分析
３．３　加速度分析
３．４　結論
第四章　輸入轉速軌跡設計
４．１　Bezier曲線
４．２　輸入轉速軌跡設計
４．３　結論
第五章　動力分析
５．１　動力分析模型
５．２　輸入轉矩
５．３　搖撼力及搖撼力矩
５．４　結論
第六章　設計方法
６．１　設計流程
６．２　最佳化
６．３　輸入轉速軌跡設計
６．４　輸入轉速軌跡與平衡參數整合設計
６．５　輸入轉速軌跡與連桿尺寸整合設計
６．６　輸入轉速軌跡、平衡參數、及連桿尺寸整合設計
６．７　結論
第七章　不同動力分析模型之設計實例
７．１　例１－１
７．２　例１－２
７．３　例１－３
７．４　例１－４
７．５　例１－５
７．６　討論與結論
第八章　指定時間路徑產生之設計實例
８．１　例２－１
８．２　例２－２
８．３　例２－３
８．４　例２－４
８．５　討論與結論
第九章　具外加負荷作用之設計實例
９．１　例３－１
９．２　例３－２
９．３　例３－３
９．４　討論與結論
第十章　結論與建議
參考文獻
自述
著作權聲明

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