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研究生:陳維仁
研究生(外文):Wei-Ren Chen
論文名稱:具曲柄輸入滑件輸出變轉速伺服連桿機構之研究
論文名稱(外文):A Study of Variable-Speed Servo-Linkage-Mechanisms with Crank-Input and Slider-Output
指導教授:顏鴻森顏鴻森引用關係
指導教授(外文):Hon-Sen Yan
學位類別:博士
校院名稱:國立成功大學
系所名稱:機械工程學系
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:1999
畢業學年度:87
語文別:中文
論文頁數:108
中文關鍵詞:伺服連桿機構變轉速傳動最佳化Bezier曲線
外文關鍵詞:servo linkage mechanismvariable speed driveoptimizationBezier curve
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連桿機構的動力源若採用旋轉式馬達,傳統設計上通常假設此馬達以等轉速運轉,輸出桿件的運動要求則藉由連桿組之拓樸構造選用與幾何尺寸之設計來完成。然而輸出之運動需求若稍有改變,則原機構不再滿足運動要求,此時必須重新設計。本研究乃針對此一問題,提出一種創新的方法,使得原機構在無須重新製造的前提下,藉由改變輸入轉速之手段,來達到同一機構可以適應多種輸出運動之要求。
本研究首先推導四桿機構與六桿機構輸入與輸出桿件之運動特性方程式,作為運動分析之基礎。然後提出一套轉速設計的方法,此方法無論是針對四桿、六桿機構、甚至於更多桿件的機構,只要是具有曲柄輸入、滑件輸出,皆能運用來獲致滿足輸出運動特性的輸入轉速函數。接著利用一種可行的轉速控制方法,使得變轉速的理念在實務上得以付諸實現。為了進一步說明本方法的應用時機與運用對策,本論文共提出了包含四桿滑件曲柄機構、六桿瓦特型機構、六桿司蒂芬遜型機構、以及六桿肘節式沖床機構等四個實例來具體表現其實用性;其中,並包括單純轉速設計和機構尺寸與轉速之複合設計。最後,並實作出一伺服連桿機構之原型機測試系統,透過實驗的方式驗證了本研究之可行性。
In general, when the power input of a linkage-mechanism is a rotary motor, this motor is traditionally designed for running at a constant speed. This research, from the kinematic point of view, proposes an alternate approach of varying the crank’s speed of the mechanism to meet various desired output motions without modifying the geometric dimensions of the original mechanism.
At first, the kinematic relations between the input link and the output link of 4-bar and 6-bar linkage-mechanisms are derived. Then an approach is proposed for deriving useful input speed trajectories for any type of linkage-mechanisms with a crank-input and a slider-output. To show the feasibility of this variable-input-speed method, control algorithm regarding how this servo system works is also presented. To further demonstrate the procedure of this work and show its practicability, four examples, including 4-bar slider-crank mechanisms, 6-bar Watt-type mechanisms, 6-bar Stephenson-type mechanisms, and 6-bar Knuckle-Joint-type mechanisms, are discussed. These examples include cases of purely speed trajectory design and the combined design of speed trajectory with linkage dimensions. Finally, a prototype of this “Servo-Linkage-Mechanism” is built and tested. And, results of experiments from the prototype verify the feasibility of this work.
封面
摘要
英文摘要
誌謝
目錄
圖目錄
表目錄
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 運動分析
2.1 位置分析
2.1.1 滑件曲柄機構
2.1.2 六桿瓦特型機構
2.1.3 六桿司蒂芬遜型機構
2.2 速度分析
2.2.1 滑件曲柄機構
2.2.2 六桿瓦特型機構
2.2.3 六桿司蒂芬遜型機構
2.3 加速度分析
2.3.1 滑件曲柄機構
2.3.2 六桿瓦特型機構
2.3.3 六桿司蒂芬遜型機構
2.4 結論
第三章 轉速函數設計
3.1 Bezier函數
3.2 最佳化
3.3 控制目標與設計限制
3.4 含尺寸設計之最佳化
3.5 結論
第四章 轉速函數控制
4.1 伺服機構系統
4.2 系統判別
4.3 PID控制器
第五章 應用實例一---轉速設計
5.1 四桿滑件曲柄機構
5.1.1 具時間性之路徑產生
5.1.2 滑件等速度運動
5.1.3 最小滑件加速度運動
5.2 六桿瓦特型機構
5.2.1 引伸加工
5.2.2 精密剪切加工
5.3 六桿司蒂芬遜型機構
5.3.1 引伸加工
5.3.2 精密剪切加工
5.4 六桿肘節式沖床機構
5.4.1 引伸加工
5.4.2 精密剪切加工
5.5 結論
第六章 應用實例二---轉送與尺寸設計
6.1 深引伸加工
6.2 精密剪切加工
第七章 實驗與測試
7.1 實驗簡介
7.2 硬體架構
7.3 軟體架構
7.4 結果與分析
7.4.1 具時間性之路徑產生
7.4.2 滑件等速度運動
7.4.3 最小滑件加速度運動
7.5 結論
第八章 結論與建議
參考文獻
附錄
自述
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姚燕安,1999年1月,凸輪機構的主動控制,博士論文,天津大學機械工程學院。
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