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研究生:吳宗軒
研究生(外文):Chung-HsuanWu
論文名稱:王湔仿生車輪之改進設計
論文名稱(外文):On the Improved Design of Wang Chien’s Biomimetic Wheel
指導教授:顏鴻森顏鴻森引用關係
指導教授(外文):Hong-Sen Yan
學位類別:碩士
校院名稱:國立成功大學
系所名稱:機械工程學系碩博士班
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2012
畢業學年度:100
語文別:英文
論文頁數:104
中文關鍵詞:仿生車輪步行機器連桿機構尺寸合成最佳設計
外文關鍵詞:biomimetic wheelwalking machinelinkage mechanismdimensional synthesisoptimization design
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  • 被引用被引用:2
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本研究之主要目的在於重建並改進王湔之仿生車輪。此一完全憑藉王湔之經驗所發明並建造而成的仿生車輪,由八組相同的子連桿機構構成,且可直接安裝於使用輪胎的交通工具上。此一仿生車輪為一具可變拓撲構造之連桿機構,而此一拓撲變化現象乃由特定桿上的特殊幾何形狀造成。本研究首先定義出運作中所產生的六種拓撲構造,再根據已知的拓撲構造推導出運動分析與靜力分析所需之運算公式。在建立完整的分析模式後,藉由MATLAB軟體中內建fmincon函數之interior-point演算法,進行尺寸合成與最佳化。藉此可得到具有七到十一個子連桿機構之仿生車輪的最佳尺寸,而再經由先前所得之運動分析與靜力分析可知,輸入扭矩與輪輻中心點之起伏將隨子連桿機構之數目增加而下降,並也藉此驗證了新設計較於原始設計之改進與其可行性。
This study reconstructs and improves the biomimetic wheel designed and constructed based on the experiences of Wang Chien. This wheel consists of eight sets of identical cell linkages and is compatible with conventional vehicles. The wheel is a mechanism with variable topology structure, where the change of topology is caused by the special shape geometries of links. In this study, six types of topology structures are identified for the design first. Then, the formulations of kinematic and static force analyses are developed based on the identified topology structures. And, the interior-point algorithm is chosen in the fmincon function of MATLAB for dimension synthesis and optimization. Optimal dimensions of designs with seven to eleven cells are obtained from the procedure of dimension synthesis. The kinematic and force analyses to the newly obtained dimensions reveal that the input torque and fluctuation of frame center decreases with the increase of cell numbers. The analyses also reveal that the new designs have advanced performances comparing with the original design, and are practical and feasible.
Abstract I
摘要 II
致謝 III
Contents V
List of Figures VII
List of Tables X
Nomenclatures XI
Chapter 1 Introduction 1
1.1 Conventional designs 2
1.2 Related patents 5
1.3 Motivation 14
1.4 Objective 14
1.5 Summary 15
Chapter 2 Structural Analysis 16
2.1 The biomimetic wheel 17
2.2 Special shape geometry 18
2.3 Change of topology structure 20
2.4 Summary 32
Chapter 3 Kinematic Analysis 33
3.1 Position analysis 33
3.2 Velocity analysis 56
3.3 Summary 59
Chapter 4 Force Analysis 60
4.1 Static force analysis 60
4.2 Rolling resistance 66
4.3 Summary 68
Chapter 5 Optimization 70
5.1 Design objectives 70
5.2 Design variables 70
5.3 Design constraints 71
5.4 Results and comparison 73
5.5 Summary 76
Chapter 6 Other Feasible Designs 77
6.1 Optimal designs of different cell numbers 77
6.2 Comparison of designs 86
6.3 Summary 88
Chapter 7 Prototyping 89
7.1 Layer arrangement for links 89
7.2 Computer simulation 91
7.3 Prototype 94
Chapter 8 Conclusions and Suggestions 97
8.1 Conclusions 97
8.2 Suggestions 98
References 99
自述 103
著作權聲明 104

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