臺灣博碩士論文加值系統

本論文中我們針對平面及空間連桿機構提出一種新的力量傳遞性指標(FTI)並建立其分析程序。此指標可以做為從輸入桿到輸出桿間之力量傳遞性能的定量分析工具。此分析方法是基於靜力學分析及功率流路徑的概念所建構而成。我們發現一個機構的力量傳遞性能不僅與其構形有關，而且也會受輸出桿的選擇和負載的型態所影響。針對平面及空間多自由度連桿機構，我們則修改FTI的定義而提出了平均力量傳遞性指標(MFTI)。我們以所提出的力量傳遞性指標對平面及空間連桿機構進行分析，其結果與使用賈氏矩陣法(Jacobian)及接頭力指標法之分析結果進行比較。比較的結果顯示，我們所提出的力量傳遞性指標可以成功地解釋其他方法所無法解釋的許多現象。本論文之結論為：文中所提出之指標可以做為較其他方法更好的力量傳遞性能量測工具，並應用於連桿機構之最佳化設計。

In the thesis, a new force transmission index (FTI) was proposed and the analysis procedure was established for the planar and spatial linkage mechanisms. The index can be used as a quantitative measure of the force transmission performance from the input link to an output link. The method is based on the static force analysis and the concept of power flow path. We have found that, the force transmission performance of a mechanism depends not only on the configurations of the mechanism, but also on the selection of the output link and the types of the loading. For the category of planar and spatial multi-degree-of-freedom linkage mechanisms, we have modified the definition of FTI to propose the Mean Force Transmission Index (MFTI). We have compared the analysis results of the planar and spatial linkage mechanisms based on the force transmission indices with the results by the Jacobian matrix method and the Joint Force Index method. The comparison results show that the proposed force transmission indices can explain many cases successfully when other methods fail. It is conclude that the proposed indices can be used as a better measure of the force transmission performance and in optimal design for linkage mechanisms.

Abstract in Chinese I
Abstract in English II
Contents III
Contents of figures VI
Contents of tables XI
Chapter 1 Introduction 1
1.1 Overview 1
1.2 Literature Review 2
1.3 Motivation 5
Chapter 2 Fundamentals of Force Transmission Performance 6
2.1 Introduction 6
2.2 General Definition of Force Transmission Index 7
2.2.1 Power Flow Path 8
2.2.2 Effective Force Ratio 12
2.2.3 Mechanical Advantage 15
2.2.4 The Force Transmission Index 16
2.3 Force Transmission Index for Multi-Degree-of-Freedom
Mechanisms 19
2.3.1 Force Transmission Index for Mechanisms with
Simply Independent Power Flow Paths 21
2.3.2 Input Velocity Ratio 23
2.3.3 Mean Force Transmission Index 28
2.4 Other Definitions of Force Transmission Indices 31
2.4.1 Joint Force Index (JFI) 31
2.4.2 Transmission Index (TI) 33
2.5 Jacobian Analysis of Closed-Loop Mechanisms 35
2.5.1 Jacobian Matrices 36
2.5.2 Singularity Conditions 37
Chapter 3 Force Transmission Performance Analysis of
Planar Linkage Mechanisms 40
3.1 Introduction 40
3.2 Planar Single-Degree-of-Freedom, Single-Loop
Linkage Mechanisms 41
3.2.1 Displacement Analysis 42
3.2.2 Velocity Analysis 44
3.2.3 Static Force Analysis 47
3.2.4 Force Transmission Performance Analysis 51
3.2.5 Summary 64
3.3 Planar Single-Degree-of-Freedom, Multi-Loop
Linkage Mechanisms 67
3.3.1 Force Transmission Performance Analysis 68
3.3.2 Summary 81
3.4 Planar Two-Degree-of-Freedom, Five-Bar
Linkage Mechanism 83
3.4.1 Displacement Analysis 84
3.4.2 Velocity Analysis 85
3.4.3 Force Transmission Performance Analysis 87
3.5 Planar Three-Degree-of-Freedom, Eight-Bar
Linkage Mechanism 91
3.5.1 Displacement Analysis 92
3.5.2 Velocity Analysis 95
3.5.3 Force Transmission Performance Analysis 98
Chapter 4 Force Transmission Performance Analysis of
Spatial Linkage Mechanisms 104
4.1 Introduction 104
4.2 Spatial RSSR Four-Bar Linkage Mechanism 105
4.2.1 Displacement Analysis 106
4.2.2 Velocity Analysis 110
4.2.3 Static Force Analysis 111
4.2.4 Force Transmission Performance Analysis 113
4.2.5 Summary 121
4.3 Spatial Six-Degree-of-Freedom, 6-RSS Parallel
Mechanism 123
4.3.1 Displacement Analysis 124
4.3.2 Velocity Analysis 127
4.3.3 Force Transmission Performance Analysis 131
Chapter 5 Conclusions 134
5.1 Summary of Definitions of Transmission Indices 134
5.2 Conclusions 135
5.3 Future Work 137
Appendix A 138
Appendix B 143
References 145

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