臺灣博碩士論文加值系統

本文以速度迴路方程式為基礎導出多迴路平面機構速度、靜力及動力分析之方法。在速度瞬心方面，導出之方法僅需解一次迴路聯立方程式即可求得所有速度瞬心，而且以方程式係數矩陣之秩即可決定機構是否處於不定構形以及是否能夠得到所有速度瞬心。速度分析更廣泛的討論驅動軸數目不等於機構自由度之各種狀況，同時亦對步行機構作初步之研究。另一方面，靜力及動力分析以能量法為基礎，導出之方法可將所有驅動力、外力、慣性力等所有力量包含在一方程式中，除求得動力分析之慣性力外，此方法不需再解任何聯立方程式。

Methods developed using loop equations are proposed to investigate the instantaneous kinematics, statics, and dynamics of complex planar mechanisms. The rank of the coefficient matrix of loop equations is used to check if a mechanism is at an unstable configuration or all the instantaneous centers of the mechanism can be found. The solution of the loop equations are used to (i) find all the instantaneous centers; (ii) find the angular velocity of each link and the velocity of each point; (iii) develop the equations for static analysis; (iv) develop dynamic equations, if the inertial forces and couples are given. Instantaneous kinematics is studied in many different aspects, including the analysis of walking mechanisms.

中文摘要………………………………………………………………….I
英文摘要……………………………..…………………………….……II
誌 謝………………………………………………………………..III
目 錄……………………………………………………………….IV
圖表索引……………………………..…………………………………VI
第一章 緒論……………………………………………………………1
第二章 速度瞬心分析…………………………………………………5
2.1 速度瞬心基本定義………….……………….……..………….6
2.2 獨立迴路速度方程式……………….…….………………….8
2.3 決定速度瞬心之方法………………….…….……………...12
2.4 運動倒置……………………………….……………..………15
2.5 單自由度機構之速度瞬心…………….……...……………...17
2.6 多自由度機構之速度瞬心……………...…………………...23
2.7 討論…………………………………………………………...27
第三章 機器動物速度分析…….………………..……………………30
3.1 足部設計及自由度分析……………………………………...31
3.2 兩驅動馬達輸入之速度分析………………………………35
3.3 單馬達經齒輪組驅動兩輸入軸之速度分析………………38
3.4 討論…………………………………………………………...40
第四章 力量分析……………………………………………………...44
4.1 單自由度機構之靜力分析…………………………………44
4.2 單自由度機構之動力分析………………………………...52
4.3 討論……………………………………………………...57
第五章 數值範例……………………………………………………..58
5.1 速度瞬心應用範例……………….……………………..58
5.2 機器動物速度分析應用範例……………………………..68
5.3 力量分析應用範例………………………………………74
第六章 結論與建議…..…………………………………...…………79
參考文獻………………………………………………………………..81
作者簡介………………………………………………………………..83

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