空間連桿結構的位置分析與構形轉換應用

文化大學機構典藏 CCUR > 理工學院 > 工學院 > 機械工程系暨機械工程學系數位機電研究所 > 研究計畫 > Item 987654321/21506

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題名:	空間連桿結構的位置分析與構形轉換應用
作者:	鐘文遠
貢獻者:	機械系
關鍵詞:	連桿機構連桿結構位置分析構形間轉換姿勢 linkage linkage structure position analysis configurations switching pose
日期:	2010-08
上傳時間:	2012-02-23 14:13:07 (UTC+8)
摘要:	本計劃針對空間連桿結構作相關探討。和RSSR 連桿機構相關連的結構為研究的啟始對象，再進而擴展至其它機構。熟知的RSSR 連桿機構具兩個自由度，僅可供函數機構使用。當於耦桿及輸入桿間，加裝兩端皆為球型運動對的連桿時，則得到實質自由度降為一的RSSR-SS，可執行路徑演生及物體導引的合成與設計。若再於耦桿及輸出桿間加裝另一連桿，便成為實質自由度為零的結構。對此RSSR-2SS 結構，將進行位置分析，以求得所有的可能構形及構形個數的最大值。其成果亦有助於生化領域中，分子迴圈或RNA 的相關構象分析。此外，構形間轉換的應用與相關設計亦為探討重點。對於RSSR-2SS 結構的位置分析，將至少以下述三種方法進行。第一為掃描與數值法；例如選擇某一角度為變數，以進行相關運算，推測其解的存在區間；進而用最佳設計的數值方法，找到精確解。第二為以數個旋轉角為變數，推導出數個方程式，進而設法聯立求解。第三法為以座標為變數，進行方程式推導，再聯立求解。此外，將儘可能應用Bezout number、圓點特性及相關幾何特徵，以推估解的數目的最大值。 RSSR-2SS 結構必具有諸多構形。當部份接頭被拆解後，可將其移動至其他構形，重新組合為另一結構。藉此觀念，可設計具有多種功能的空間連桿結構。對於耦桿於三個姿勢(含位置及角度)間轉換，設計難度不高。若欲符合四個姿勢的需求，由於耦桿與輸入桿(或輸出桿)之接頭的軌跡為一圓，因此須於耦桿上找到適當點，該點於對應四個姿勢時，具有共圓的特性。該等能共圓的適當點的集合為何?能否對姿勢數目超過四個進行設計? 而位置分析的構形數目與構形轉換應用的姿勢個數，兩者如RSSR-2SS 結構的一體兩面，其間是否有所關聯?都是值得探討的課題。對於上述成果，將用軟體進行3D 模擬或建立機構的實體模型，以執行驗證。而位置分析部份，可望略加調整後，能對生化領域有所助益。除了以 RSSR 為標的外，亦可對其他空間連桿組，進行類似的研究。 This project focuses on the investigation of spatial linkage structure. We begin with the structure that originates from RSSR, and others will be considered thereafter. RSSR is a well-known spatial linkage and has two degree-of-freedom. Therefore, it can be only applied as a function generator. If a link with spherical joints at both ends is added between input and coupler links, the non-trivial DOF becomes 1. The resultant linkage RSSR-SS can be synthesized and designed for both purpose of path generation and body guidance. If a further link is added between output and coupler links, the non-trivial DOF is zero. With regard to this RSSR-2SS, the position analysis will be executed to find all configurations and the maximum number of possible configurations. Furthermore, the application of switching among some configurations and the methodology of designing this linkage structure are to be studied. At least three methods are proposed for the task of position analysis. Interval scan combining with optimization methods is the first one. One rotation angle can be chosen as the scan variable to find the intervals where solutions exist. Numerical method, such as optimization, can then be applied to find the solution precisely. The second method is to choose several rotation angles as variables. The same number of equations can then be derived and combined to solve the solutions. The third one is to use the coordinates of joint as variables instead. On the other hand, the techniques of Bezout number, circular points and other geometry characteristics can be considered to figure out the maximum number of possible configurations. There must be several configurations for a RSSR-2SS linkage. If some joints are dismantled, the multi-purpose RSSR-2SS linkage can be switched to other configurations and reassembled. For the task of switching coupler link among three poses, the design process seems straight forward. However, for switching among four poses, the problems do exist. The point on the coupler link so that four corresponding points can lie on a circle has to be found. Such points can then be the joint between the coupler link and input/output link. What is the set of these points? Is the number of configurations derived from position analysis related to the number of poses in designing a multi-purpose RSSR-2SS structure? These problems are worthwhile to be investigated. The results of this work can be verified by using 3D simulation software or building prototype. The outcome of position analysis may be helpful for analyzing molecular loop or RNA loop. In addition to RSSR, similar strategy and investigation can be applied to other spatial linkages as well.
顯示於類別:	[機械工程系暨機械工程學系數位機電研究所] 研究計畫

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