可多相導引物體之空間機構的合成與探討

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Please use this identifier to cite or link to this item: https://irlib.pccu.edu.tw/handle/987654321/45223

Title:	可多相導引物體之空間機構的合成與探討 Synthesis and Investigation of Spatial Mechanism for Multi-Phase Body Guidance
Authors:	鐘文遠
Contributors:	機械工程學系
Date:	2016-2017
Issue Date:	2019-10-31 14:16:48 (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，可執行單相的路徑演生及物體導引等三維運動。本計劃將承續先前成果，將樞點位置或桿長設計為可調整，或運用多分支的特性，讓機構能於各相間切換，以達到多相物體導引的功能為主要目標。研究過程以多相平面連桿組為啟始，低自由度複合式運動平台為主要標的。對於多相平面連桿組，將從三方向進行。第一為針對樞點切換、桿長切換與組合切換，分析探討其所衍生的效應。第二為對於執行物體導引的需求，進行連桿組的合成。第三為整合多相連桿組的諸多合成技巧，例如”座標數”概念、極心及倒置等運動學特徵、推導方程式以聯立求解、以及數值法等。三維複合式運動平台可藉由改變支撐腿的數目與接頭形式，衍生出諸多類型的機構。配置C-S 以及三根S-S 支撐腿，適於指定多個精確姿勢的物體導引；最近對該機構的設計與分支缺陷的評估，已陸續探討及發展。計畫將先採用此款機構，針對樞點及桿長為可調整，進行合成設計的嘗試與探討。如例題3 為兩相各四個精確姿勢的指定，證實合成設計的機構確可達成預期功能。而後將再嘗試更多姿勢的指定，甚至應用不同分支對應兩組姿勢指定。對其他可行機構也將進行評估，並研發其合成的策略。合成三維機構的主要方法為倒置觀念、幾何限制、及推導代數方程式以聯立求解，最佳設計等數值方法也為不可或缺的工具。本計畫亦將發展程式以輔助機構的設計，使用 3D 設計軟體加以組裝、模擬及檢測其運動，建立模型以協助觀念釐清、理論推導及動作驗證。 Previous projects proposed hybrid platforms with one or two DOF. These novel mechanisms have been designed, synthesized and tested, and they can execute the tasks of 3D single-phase path generation or body guidance. In this project, that mechanisms can execute the tasks of multi-phase body guidance is expected by adjusting the positions of ground pivots and link lengths. This research begins with multi-phase planar linkages, and the 3D hybrid platform is the primary goal. The works for planar mechanisms include three categories. One is to investigate the effect when ground pivots, link lengths or both are adjustable. Another is to synthesize the linkages for executing tasks of multi-phase body guidance. The other is to integrate techniques for linkage synthesis. They can be the concept of “number of coordinates”, pole, inversion, equations deriving and solving, numerical methods, and optimization. The proposed mechanisms may have various types by modifying the number of supporting legs and types of joints. A mechanism whose platform is supported by a C-S leg and three S-S legs can execute 3D body guidance. The strategies of synthesizing this mechanism and evaluating branch defects are being developed. That the ground pivots and link lengths of the mechanism are adjustable will be considered in this project and synthesis strategies are to be developed. As shown in the third example in this proposal, the synthesized mechanism can generate two phases body guidance. However, there are only four precision poses for each phase, and tasks with more precision poses will be worked on. Furthermore, executing different sets of tasks while a mechanism is assembled at different branches will also be tried. In addition to CS-3SS, other mechanisms will be evaluated and the synthesis strategies will be developed. Graphical methods have hardly help in synthesizing spatial mechanisms. Analytical methods by solving equations and the concept of inversion will be used in designing mechanisms. Because proposed mechanisms are spatial and have multi-phase functions, using numerical techniques, such as optimization, thus becomes necessary. In addition to the theories listed above, the programs for designing multi-phase mechanisms will be developed. Some 3D CAD software will be used to assemble the mechanism, to animate the motion, and to verify the performance. Prototypes of proposed mechanisms will be built for real test if necessary.
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