臺灣博碩士論文加值系統

本文是以66個線性方程式來描述史迪瓦特平臺式機構之動力系統, 66個線
性方程式的幫助, 計算機構各接頭處的受力情形, 包括所需驅動力的值。
利用此66個線性方程式,我們將可作兩方面的研究,一個是觀察底座與平臺
上之球狀窩接頭位置的不同,對驅動力所造成的影響。另一個是利用最佳
化設計中的極值搜尋法,來尋找機構的奇異性的平臺方向位置。經由一定
的先後順序,我們可將66個線性方程式逐一解出。在遇到聯立方程式時,是
以高斯消去法求解。由最後結果知,史迪瓦特平臺式機構的腳與其相鄰的
腳所夾的角度愈大,便愈能降低驅動力的變化程度,從而達到減低成本的功
能。又搜尋奇異性的結果也是相當令人滿意,足以供作參考。

This reasearch uses a system of sixty six linear equations to
describe the dynamic behavior of the Stewart Platform-type
Mechanism. By means of these equations we can calculate the
conditions of forces which are applied at each joint, including
the values of actuator forces. By virtue of these equations, wi
investigate two cases. One is to study the influence of
actuator forces on ball and socket joints in the base and the
platform, respectively, for different position arrangements of
the joints. The other is to use the method of searching minimum
value, which is one of optimization design methods, to find out
the singularities of the platform- type mechanism. We solve the
system of sixty-six linear equations by appro- priate
procedures. Gauss elimination method will be applied for some
smaller systems of linear equations during the procedures. From
the results, we observe that the larger difference of the
angles between the neighboring legs which are arranged
symmetrically for the platform and the base, respectively, the
less the scope of the actuator force will be. This will reduce
the cost of the mechanism. In addition, the results of
searching singularities are satisfied and may be used as an
application reference.