臺灣博碩士論文加值系統

(3.235.56.11) 您好！臺灣時間：2021/08/04 07:42

:::

詳目顯示

:
 Twitter

• 被引用:0
• 點閱:169
• 評分:
• 下載:0
• 書目收藏:0
 本文利用一套幾何作圖法進行平面連桿組的加速度分析，此分析方法包含四個步驟。首先，以速度輔助點法求出連桿組之速度極心，並完成速度分析。其次，利用求解連桿組速度極心位置時所繪製之輔助線，建構一虛擬連桿組，再以此虛擬連桿組進行極心改換速度之分析。然後，以極心改換速度搭配Hartmann 定理，求出特定耦桿點之瞬時路徑曲率中心，藉以將原複雜連桿組拆解成多組等效四連桿組。最後，利用等效四連桿組與原連桿組耦桿的角速度與角加速度相同之特性，完成原複雜連桿組之加速度分析。此分析方法之關鍵在於極心改換速度之求解，然而，具運動不確定性之連桿組，其極心改換速度無法依一般方法求出。針對此問題，本文提出一種幾何法，先以虛擬連桿組之運動拘束關係，求出輔助點與其正交速度前端點兩者之改換速度，再求出各速度極心之改換速度，藉以完成整個加速度分析之流程。本文針對三個不具任何四桿迴路之連桿組，分別是雙自由度五連桿組、雙蝴蝶八連桿組、三自由度八連桿組，套用此加速度分析程序，完成各連桿組之加速度分析，並使用工程分析軟體驗證其結果之正確性。
 This article provides a geometrical method to analyze the acceleration of planar linkages. This analysis method contains four main steps. The first step is to find the velocity poles for the velocity analysis of linkages using the auxiliary point method for velocity. Next, the changing velocities of poles are determined by using a virtual linkage constructed from the auxiliary lines for finding velocity poles. Then, the Hartmann construction is applied to find the centers of path curvature of coupler points. Thus, the original linkage can be considered as several instantaneously equivalent four-bar linkages. Finally, using the acceleration analysis technique for the equivalent four-bar linkages, the acceleration analysis of the original complex linkages can be successfully accomplished.The key step of the procedures is to find the pole changing velocity. However, the pole changing velocities of linkages having kinematic indeterminacies can’t be obtained with the existing method. Thus, this article presents an improved way to find the pole changing velocities through the changing velocities of auxiliary points and tips of their orthogonal velocities, which can be obtained from the motion constrains between virtual links.Three planar linkages without four-bar loops, i.e., the two-degree-of-freedom five-bar linkage, the double butterfly eight-bar linkage, and a three-degree-of-freedom eight-bar linkage, are analyzed using the proposed method. The results are verified by a commercial software.
 摘要........................................ IAbstract.................................... II誌謝........................................ III目錄........................................ IV圖目錄...................................... VII表目錄...................................... X第一章 前言................................. 11-1 研究動機................................ 11-2 文獻回顧................................ 31-3 研究目的與方法.......................... 51-4 論文架構................................ 6第二章 基礎理論............................. 92-1 Burmester-Mehmke 定理及其延伸........... 92-2 速度輔助點法............................ 112-3 極心改換速度與幾何作圖法................ 132-4 Hartmann 定理及構圖法................... 152-5 四連桿組加速度極心之幾何作圖法.......... 16第三章 雙自由度五連桿組之速度與加速度分析... 183-1 速度分析................................ 183-2 極心改換速度分析........................ 203-2-1 極心P25的改換速度與輸入桿之關係....... 203-2-2 極心P24的改換速度..................... 253-2-3 極心P14的改換速度..................... 273-3 耦桿接頭C0瞬時路徑曲率中心分析.......... 273-4 加速度分析.............................. 293-5 數值實例................................ 313-6 討論.................................... 333-6-1 輸入桿角速度相同...................... 333-6-2 C0與輸入桿之關係...................... 33第四章 雙蝴蝶八連桿組之速度與加速度分析..... 364-1 速度分析................................ 364-2 極心改換速度分析........................ 374-2-1 點M及N的改換速度...................... 404-2-2 點M_及N_的改換速度.................... 424-2-3 點F_的改換速度........................ 464-2-4 極心P13與P17之改換速度................ 464-3 耦桿接頭D、E、F瞬時路徑曲率中心分析..... 504-4 加速度分析.............................. 524-5 數值實例................................ 574-6 討論.................................... 584-6-1 指定雙接頭桿為輸入桿.................. 584-6-2 指定雙接頭桿為固定桿.................. 61第五章 三自由度八連桿組之速度與加速度分析... 645-1 速度分析................................ 655-2 極心改換速度分析........................ 665-2-1 點A_、B_、C_的改換速度................ 675-2-2 點M及N的改換速度...................... 705-2-3 點M_及N_的改換速度.................... 735-2-4 極心P18之改換速度UP18................. 735-3 耦桿點瞬時路徑曲率中心分析.............. 775-4 加速度分析.............................. 775-5 數值實例................................ 795-6 討論.................................... 79第六章 結論與建議........................... 856-1 結論.................................... 856-2 建議.................................... 86參考文獻.................................... 87自述........................................ 92著作權聲明.................................. 93
 1. Aronhold, S., “Grundzüge der kinematischen geometrie,” Verhandlungen des Vereins zur Beförderung des Gewerbefleisses in Preussen, Vol. 51, pp. 129-155, 1872.2. Kennedy, A. B. W., The Mechanics of Machinery, Macmillan, London, 1886.3. Bagci, C., “Turned Velocity Image and Turned Velocity Superposition Techniques for the Velocity Analysis of Multi-Input Mechanisms Having Kinematic Indeterminacies,” Mechanical Engineering News, Vol. 20, No. 1, pp. 10-15, 1983.4. 徐孟輝，以解析法求運動鏈速度瞬心，碩士論文，國立成功大學機械工程研究所，台南，1990。5. Hirschhorn, J., Kinematics and Dynamics of Plane Mechanisms, McGraw-Hill Book Company, Inc., New York, 1962.6. Yan, H. S., Creative Design of Mechanical Devices, Springer-Verlag Singapore Pte. Ltd., Singapore, 1998.7. Bernoulli, J., De Centro Spontaneo Rotationis, Opera 4, Lausannae, p. 265, 1742.8. Chasles, M., “Note sur les propriétés générales du systéme de deux corps…,” Bulletin des Sciences Mathématiques de Férrusac, Vol. 14, pp. 321-326, 1830.9. Dijksman, E. A., “Why Joint-Joining Is Applied on Complex Linkages,” Proceedings of the Second IFToMM International Symposium on Linkages and Computer Aided Design Methods, Vol. I1, paper 17, pp. 185-212, Bucuresti, Romania, 1977.10. Gilmore, B. J. and Cipra, R. J., “An Analytical Method for Computing the Instant Centers, Centrodes, Inflection Circles, and Centers of Curvature of the Centrodes by Successively Grounding Each Link,” ASME Transactions, Journal of Mechanisms, Transmissions, and Automation in Design, Vol. 105, No. 2, pp. 407-414, 1983.11. Yan, H. S. and Hsu, M. H., “An Analytical Method for Locating Velocity Instantaneous Centers,” Proceedings of the Twenty Second Biennial ASME Mechanisms Conference, DE-Vol. 47, Flexible Mechanisms, Dynamics, and Analysis, pp. 353-359, Scottsdale, Arizona, September 13-16, 1992.12. Hall, A. S. and Ault, E. S., “Auxiliary Points Aid Acceleration Analysis,” Machine Design, Vol. 15, No. 11, pp. 120-23, 1943.13. Carter, W. J., “Acceleration of the Instant Center,” ASME Trasactions, Journal of Applied Mechanics, Vol. 17, No. 2, pp. 142-144, 1950.14. Goodman, T. P., “An Indirect Method for Determining Accelerations in Complex Mechanisms,” ASME Transactions, Vol. 80, No. 8, pp. 1676-1682, 1958.15. Hirschhorn, J., “Acceleration Analysis of Low-complexity Mechanisms,” Production Engineering, Vol. 32, No. 19, pp. 26-29, 1961.16. Rakesh, N., Mruthyunjaya, T. S., and Girish G. D., “Velocity and Acceleration Analysis of Complex Mechanisms by Graphical Iteration,” Mechanism and Machine Theory, Vol. 19, No. 3, pp. 349-356, 1984.17. Hall, A. S. Jr., Kinematics and Linkage Design, Waveland Press, Inc., Prospect Heights, Illinois, 1986.18. 汪安國，平面五連桿組之剛體導引，碩士論文，國立成功大學機械工程研究所，台南，1990。19. Balli, S. S. and Chand, S., “Five-Bar Motion and Path Generators with Variable Topology for Motion between Extreme Positions,” Mechanism and Machine Theory, Vol. 37, pp. 1435-1445, 2002.20. Pennock, G. R., “Curvature Theory for a Two-Degree-of-Freedom Planar Linkage,” Mechanism and Machine Theory, Vol. 43, No. 5, pp. 525-548, 2008.21. Du, R. and Guo, W. Z., “The Design of a New Metal Forming Press with Controllable Mechanism,” ASME Transations, Journal of Mechanical Design, Vol. 125, pp. 582-592, September 2003.22. Meng, C. F., Zhang, C., Lu, Y. H., and Shen, Z. G., “Optimal Design and Control of a Novel Press with an Extra Motor,” Mechanism and Machine Theory, Vol. 39, pp. 811-818, 2004.23. Li, H., Zhang, C., and Song, Y. M., “Design of Slider Curve for the Hybrid-Driven Mechanical Press,” Journal of Machine Design and Research, Vol. 20, No. z1, pp. 244-246, 2004 (in Chinese).24. He, K., Jin, Z. L., Guo, W. Z., and Du, R., “The Design of a New Controllable Metal Forming Mechanical Press,” Journal of Machine Design and Research, Vol. 21, No. 2, pp.12-14, 2005 (in Chinese).25. Alt, H. and Rauh, U. K., “Koppelgetriebe ohne Gelenkvierecke,” Reuleaux-Mitteilungen, Vol. 5, p. 380 (Zuschrift und Erwiderung), 1937.26. Rosenauer, N., “Unmittelbare Geschwindigkeitskonstruktion am Römer-Getriebe,” Reuleaux-Mitteilungen, Vol. 5, pp. 329-330, 1937.27. Dijksman, E. A., “Geometric Determination of Coordinated Centers of Curvature in Net Work Mechanism Through Linkage Reduction,” Mechanism and Machine Theory, Vol. 19, No. 3, pp. 289-295, 1984.28. Adams, D. P. and Samoiloff, A., “Synthesis of Plane Mechanisms (Synthese ebener Getriebe),” Transactions of the Sixth Conference on Mechanisms, Purdue University, Lafayette, Ind., pp. 120-128, 1960.29. Freudenstein, F., “The Cardan Positions of a Plane (Die Kardanlagen einer Ebene),” Transactions of the sixth Conference on Mechanisms, Purdue University, Lafayette, Ind., pp. 129-133, 1960.30. Wu, L. I. and Chiang, C. H., “Dead-Center Configurations of Planar Complex Eight-Bar Linkages,” Journal of the Chinese Society of Mechanical Engineers, Vol. 14, No. 5, pp. 492-503, 1993.31. Waldron, K. J. and Sreenivasan S. V., “A Study of the Solvability of the Position Problem for Multi-Circuit Mechanisms by Way of Example of the Double Butterfly Linkage,” ASME Transactions, Journal of Mechanical Design, Vol. 118, No. 3, pp. 390-395, 1996.32. Pennock, G. R. and Hasan, A., “A Polynomial Equation for a Coupler Curve of the Double Butterfly Linkage,” ASME Transactions, Journal of Mechanical Design, Vol. 124, No. 1, pp. 39-46, 2002.33. Foster, D. E. and Pennock, G. R., “A Graphical Method to Find the Secondary Instantaneous Centers of Zero Velocity for the Double Butterfly Linkage,” ASME Transactions, Journal of Mechanical Design, Vol. 125, No. 2, pp. 268-274, 2003.34. Pennock, G. R. and Raje, N. N., “Curvature Theory for the Double Flier Eight-Bar Linkage,” Mechanism and Machine Theory, Vol. 39, No. 7, pp. 665-679, 2004.35. Pennock, G. R. and Raje, N. N., “Coupler Cognates for the Double Flier Eight-Bar Linkage,” ASME Transactions, Journal of Mechanical Design, Vol. 127, No. 6, pp. 1145-1151, 2005.36. 黃景政，平面R 接頭並聯式機構之工作空間及奇異性分析，碩士論文，國立成功大學機械工程研究所，台南，1999。37. Rosenauer, N., “Koppeltriebe ohne Gelenkvierecke,” Reuleaux-Mitteilungen, Vol. 6, pp. 147-149, 1938.38. Lin, C. S. and Erdman, A. G., “Dimensional Synthesis of Planar Triads: Motion Generation with Prescribed Timing for Six Precision Positions,” Mechanism and Machine Theory, Vol. 22, No. 5, pp. 411-419, 1987.39. Gosselin, C. and Angeles, J. “Optimum Kinematic Design of a Planar Three-Degree-of-Freedom Parallel Manipulator,” ASME Conference, Design Engineering Division (Publication) DE, Vol. 10-2, pp. 111-115, 1987.40. Lin, C. S. and Erdman, A. G., “Singular Conditions and Solutions of the Standard Triad Displacement Equation,” ASME Conference, Design Engineering Division (Publication) DE, Vol. 15-1, pp. 371-377, 1988.41. Gosselin, C. and Angeles, J. “Singularity Analysis of Closed-Loop Kinematic Chains,” IEEE Transactions, Robotics and Automation, Vol. 6, No. 3, pp. 281-290, 1990.42. Tong, G. L. and Paul, R. P., “Singularity Avoidance and the Control of an Eight-Revolute-Joint Manipulator,” International Journal of Robotics Research, Vol. 11, No. 6, pp. 503-515, 199243. 鍾國源，平面並聯式機械臂的運動規劃，碩士論文，國立成功大學機械工程研究所，台南，1998。44. Cha, S. H, “Singularity Avoidance for the 3-RRR Mechanism Using Kinematic Redundancy,” Proceedings of IEEE International Conference on Robotics andAutomation, Roma, Italy, pp. 1195-1200, 2007.45. Mallik, A. K., Ghosh, A., and Dittrich G., Kinematic Analysis and Synthesis of Mechanisms, CRC Press, Inc., Boca Raton, 1994.46. Burmester, L., “Über die momentane Bewegung ebener kinematischer Ketten,” Civilingenieur, No. 26, pp. 247-286, 1880.47. Mehmke, R., “Über die Geschwindigkeiten beliebiger Ordnung eines in seiner Ebene bewegten ähnlich veränderlichen ebenen Systems,” Civil Ing., p. 487, 1883.48. Dijksman, E. A., Motion Geometry of Mechanisms, Cambridge University Press, London, 1976.49. Hartmann, W., “Ein neues Verfahren zur Aufsuchung des Krümmungskreises,” VDI-Z, Vol. 37, pp. 95-102, 1893.50. Schiler, R. W., “Method for Determining the Instantaneous Center of Acceleration for a Given Link,” ASME Transactions, Journal of Mechanical Design, Vol. 87, pp. 218, 1965.51. Bobillier, E., Cours de géométrie, 12th Edition, p. 232, 1870.
 國圖紙本論文
 連結至畢業學校之論文網頁點我開啟連結註: 此連結為研究生畢業學校所提供，不一定有電子全文可供下載，若連結有誤，請點選上方之〝勘誤回報〞功能，我們會盡快修正，謝謝！
 推文當script無法執行時可按︰推文 網路書籤當script無法執行時可按︰網路書籤 推薦當script無法執行時可按︰推薦 評分當script無法執行時可按︰評分 引用網址當script無法執行時可按︰引用網址 轉寄當script無法執行時可按︰轉寄

 1 平面並聯式機械臂的運動規劃 2 以解析法求運動鏈速度瞬心 3 平面R接頭並聯式機構之工作空間及奇異性分析 4 平面五連桿組之剛體導引

 無相關期刊

 1 從消費者保護法論銀行服務業責任－以保管箱為中心 2 在台馬華文學中的原鄉再現——以黃錦樹、鍾怡雯、陳大為為例 3 台語構詞學原理kap詞典編輯e探討 4 聽覺訊息與作業複雜度對肢體間協調與知覺動作結合能力影響之年齡發展趨勢 5 太極拳推手中攻與防之生物力學原理 6 女性HIV感染者兩性親密關係之敘說 7 探討生活型態對早期慢性腎臟病患之影響-病例對照研究 8 膽紅素在海馬迴組織切片培養所誘發長期突觸塑性表現受損之作用機制探討 9 使用呼吸器的病人接受肺泡灌洗術後呼吸系統機械性之變化 10 扁平細胞癌抗原在子宮頸癌上功能及基因治療的研究 11 漁船用油添加黏稠劑研究及車用引擎與漁船實程測試 12 平面四連桿機構加速度極心之特性研究 13 微擴流器閥整流效率之數值分析 14 應用殘差修正法於非線性熱傳問題之研究 15 利用聲音訊號迴授對銑切過程之抖顫分析與補償

 簡易查詢 | 進階查詢 | 熱門排行 | 我的研究室