文化大學機構典藏 CCUR:Item 987654321/45221
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    Please use this identifier to cite or link to this item: https://irlib.pccu.edu.tw/handle/987654321/45221


    Title: 空間機構CS-3SS的合成設計
    Synthesis of Spatial Mechanism Cs-3ss
    Authors: 鐘文遠
    Contributors: 機械工程學系
    Keywords: 空間機構
    CS-3SS
    物體導引
    最佳設計
    構形
    分支缺陷
    誤差
    Date: 2019-2020
    Issue Date: 2019-10-31 14:11:54 (UTC+8)
    Abstract: 先前計劃提出單自由度或雙自由度的三維複合式運動平台,對於該等新穎構想的空間機構,已完成初步的合成與測試,可執行路徑演生及物體導引等三維運動。並且將樞點位置或桿長設計為可調整,讓機構能於各相間切換,達到多相及多功能的目標。有別於先前的研究,精確點或精確姿勢的指定個數皆少於或等於理論的最大值;本計畫著重於過多的精確姿勢指定,配合最佳設計的數值搜尋方法,對CS-3SS的合成策略進行探討,並包含分支缺陷與誤差等相關問題。應用最佳設計時的最主要議題為目標函數的規畫。CS-3SS空間機構僅含球形接頭及圓柱接頭。目標函數的標的為在各個精確姿勢的指定下,對應的移動樞點能盡量在一球面或圓柱面上。應用的技術如三點決定一圓及四點決定一球面等幾何基礎。使用投影技術可將空間關聯轉為較易處理的平面問題。對於多相的應用,可於目標函數中加上如半徑相等和球心重合等考量。另外,先前提出的”共球面曲面”,可當作最佳設計時的等式限制式。將數組支撐腿加以組合成CS-3SS時,可能有分支缺陷。任一機構將先經過兩階段的篩除。第一階段為基於重複構形所推得的判別式;第二階段為觀察三對雙連桿組,基於設計的編碼方式,將合為5的機構篩除。上述兩階段皆須適合程式的開發,以有效率得篩除有缺陷疑慮的機構。剩餘者再進行利用構型分析或運動模擬以確定。由於本計畫針對過多的指定,機構運轉時必有誤差。誤差值的定義除了移動樞點的理想位置與實際位置的距離外,將嘗試其他合理的定義。低自由度機構具有成本低、構造簡單、易維修及易改裝等優點。本計畫將增加可指定的精確姿勢的數目,使機構能大幅增廣其應用功能。藉此計畫的發展,如生產線的末端器及戽斗等,得以因需求而進行三維的運動。人們使用的健身器材或復健器材,不再侷限於呆滯的二維動作,而可如舞者進行三維且曼妙得擺動。
    Hybrid platforms with one or two DOF were proposed in previous projects. These novel mechanisms have been designed, synthesized and tested, and they can execute the tasks of 3D single-phase path generation or body guidance. They can also be used to execute the tasks of multi-phase path generation or body guidance by adjusting the position of ground pivots and link lengths. In previous research, the number of assigned precision points or poses is less than the maximum theoretical values. The goal of this project is to synthesize the CS-3SS mechanism with the aid of optimization while the number of assigned precision poses is larger than the maximum theoretical values. The strategy of synthesis and the problems related to branch defect and error are to be developed and investigated.Planning the objective functions is the primary concern in using optimization technique. Spatial mechanisms CS-3SS are equipped with spherical or cylindrical joints. The goal is that all points of any moving pivots corresponding to the precision poses can lie on the surface of a sphere or a cylinder. Three points defining a circle and four points defining a sphere are the basis techniques to be used. The concept of projection can be used to convert spatial problems into planar ones. The condition of coincidence of centers or equivalence of radii has to be satisfied for the application of multi-phase. Furthermore, “sphere-point surface”, being proposed in previous research, can become the equality constraints in optimization search.The spatial mechanisms CS-3SS that are equipped with several supporting legs may have the problems and branch-defect. Any synthesized CS-3SS should pass two tests. The first is the values of a criterion being derived on the basis of double configurations. The second step is to check the codes of three groups of dyads. The problem of branch defect may exist if any summation equals 5. Both tests should be suitable for coding so that the mechanisms that may have any defects can be discarded effectively. Those remaining mechanism can then be verified by executing configuration analysis or using animation program. When the synthesized mechanisms are used to execute body guidance, the existence of error is expected since the number of assignment is larger than the theoretical maximum value. The error can be defined as the distance between the ideal positions of moving pivots and their actual positions. Defining error in other ways will be tried as well.Low DOF spatial mechanisms inherently own the advantages of being low-cost, simple to design, and easy in maintenance as well as modification. The execution of this project results in that more number of precision poses can be prescribed. The advantages of using mechanism with low DOF are thus enhanced. With the achievements of this project, the end-effectors and scoops used in various industries can carry out three-dimensional movements. The health, fitness, and rehabilitation facilities currently in use are confined to dull planar motion, and they can be modified so that users can move gracefully, three dimensionally, and as dancers.
    Appears in Collections:[Department of Mechanical Engineering ] project

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