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System No. U0002-0809202001342000
Title (in Chinese) 史蒂芬生第三型六連桿機構桿件旋轉一圈的條件
Title (in English) Full Revolution of a Link in a Stephenson Type III Six-bar Mechanism
Other Title
Institution 淡江大學
Department (in Chinese) 機械與機電工程學系碩士班
Department (in English) Department of Mechanical and Electro-Mechanical Engineering
Other Division
Other Division Name
Other Department/Institution
Academic Year 108
Semester 2
PublicationYear 109
Author's name (in Chinese) 劉曜維
Author's name(in English) Yao-Wei Liou
Student ID 607370276
Degree 碩士
Language Traditional Chinese
Other Language
Date of Oral Defense 2020-07-09
Pagination 130page
Committee Member advisor - Chao-Hwa Liu
co-chair - Chao-Hwa Liu
co-chair - 陳冠辰
co-chair - 陳正光
Keyword (inChinese) 葛氏條件
史蒂芬生第三型六連桿機構
奇異位置
死點構形
Keyword (in English) Grashoff`s law
Stephenson III six-bar mechanism
Singular position
Dead center configurations
Other Keywords
Subject
Abstract (in Chinese)
本論文針對史蒂芬生第三型平面六連桿機構且由五連桿迴圈的接地桿件驅動的情況,尋找能夠使此驅動桿件可以繞地桿旋轉一圈的條件。方法是找出機構的死點位置,並且推導出使死點不會發生的桿長條件。尋找死點位置是推導出速度分析的Jacobian矩陣,尋找此矩陣行列式為零的位置,再利用高斯消去法判別此奇異位置是死點或是不確定位置,本文只針對死點位置,得到每個構形,再找出此構形不會發生的條件。在分析六連桿機構之前,本論文先針對平面四個旋轉接頭的四連桿機構,重新推導出葛氏條件。
Abstract (in English)
In this thesis full revolution conditions for the grounded link in the five-bar chain of a Stephenson type III six-bar mechanism are determined. The method is to locate all dead center positions of the mechanism and obtain conditions that these dead center configurations do not occur. Singular positions are obtained from the Jacobian matrices in velocity analysis, and Gaussian elimination are used on the augmented matrices to determine if a singular position is a dead center or an uncertain position. Only dead point positions are dealt with in this article, and conditions for the occurrence of these configurations are derived in this thesis. The above mentioned technique is first used on planar four-bar mechanisms, which leads to Grashoff condition.
Other Abstract
Table of Content (with Page Number)
目錄
中文摘要     ii
英文摘要    iii
目錄	iv
第一章 緒論	1
1.1 前言與文獻回顧	1
第二章 平面四連桿機構的葛氏條件	3
2.1 第②桿驅動	3
2.2 第③桿驅動	12
2.3 第④桿驅動	22
2.4第二章小結	22
第3章 史蒂芬生第三型六連桿機構桿件旋轉一圈條件	23
3.1 AGDFCBA與BEFCB迴圈	23
3.1.1 情況I.1:當θ6=θ5 且 θ5=θ4	29
3.1.2 情況I.2:當θ6+π=θ5 且 θ5=θ4	32
3.1.3 情況I.3:當θ6+π=θ5 且 θ5=θ4+π	33
3.1.4 情況I.4:當θ6=θ5 且 θ5=θ4+π	36
3.1.5 情況I.5:當θ6=θ5 且 θ3=θ6	36
3.1.6 情況I.6:當θ6+π=θ5 且 θ3=θ6	40
3.1.7 情況I.7:當θ6+π=θ5 且 θ3=θ6+π	44
3.1.8 情況I.8:當θ6=θ5 且 θ3=θ6+π	47
3.1.9 情況I.9:當θ3-θ4+ϕ6=0 且 θ5=θ4	51
3.1.10 情況I.10:當θ3-θ4+ϕ6+π=0 且 θ5=θ4	52
3.1.11 情況I.11:當θ3-θ4+ϕ6+π=0 且 θ5=θ4+π	54
3.1.12 情況I.12:當θ3-θ4+ϕ6=0 且 θ5=θ4+π	56
3.1.13 情況I.13:當θ3=θe 且 θ3=θ6	57
3.1.14 情況I.14:當θe=θ3+π 且 θ3=θ6	59
3.1.15 情況I.15:當θ3-θ4+ϕ6+π=0 且 θ3=θ6+π	60
3.1.16 情況I.16:當θ3-θ4+ϕ6=0 且 θ3=θ6+π	62
3.2 AGDFCBA與AGDEBA迴圈	64
3.2.1情況I I.1: θ5=θ3 且 θf=θ5	68
3.2.2情況I I.2: θ5+π=θ3 且 θf=θ5	70
3.2.3情況I I.3: θ5+π=θ3 且 θf=θ5+π	72
3.2.4情況I I.4: θ5=θ3 且 θf=θ5+π	74
3.2.5情況I I.5: θe=θ6 且 θf=θ5	76
3.2.6情況I I.6: θe=θ6+π 且 θf=θ5	78
3.2.7情況I I.7: θe+π=θ6 且 θf+π=θ5	79
3.2.8情況I I.8: θe=θ6 且 θf+π=θ5	80
3.3 設計例題	81
四.結論	84
參考文獻	85

圖目錄
圖一 4R平面四連桿機構	88
圖二 4R平面四連桿機構L3>L4 且 θ3=θ4的第一種情況	88
圖三 4R平面四連桿機構L3>L4 且 θ3=θ4的第二種情況	89
圖四 4R平面四連桿機構L3>L4 且 θ3=θ4±π 的情況	89
圖五 4R平面四連桿機構L4>L3 且 θ3=θ4 的兩種情況	90
圖六4R平面四連桿機構L2>L4 且 θ2=θ4 的第一種情況	90
圖七 平面四連桿機構L2>L4 且 θ2=θ4 的第二種情況	91
圖八 4R平面四連桿機構L4>L2 且 θ2=θ4 的兩種情況	91
圖九 4R平面四連桿機構θ4=θ2+π 的情況	92
圖十 4R平面四連桿機構θ2=θ4+π 的情況	92
圖十一 史蒂芬生第三型六連桿機構示意圖	93
圖十二 情況I.1 當 θ6=θ5 且 θ5=θ4	94
圖十三 情況I.2 當 θ5+π=θ6 且 θ5=θ4	95
圖十四 情況I.3 當 θ6+π=θ5 且 θ5=θ4+π	96
圖十五 情況I.4 當 θ6=θ5 且 θ5=θ4+π	97
圖十六 d2=a2+L6-L52-2aL6-L5cosθ	98
圖十七 d2=a2+L5-L62-2aL5-L6cosθ	98
圖十八 d2=a2+L5+L62-2aL5+L6cosθ	99
圖十九 情況I.5 當 θ6=θ5 且 θ3=θ6	100
圖二十 情況I.5 當 θ6=θ5 且 θ3=θ6	101
圖二十一 情況I.5 當 θ5=θ6 且 θ3=θ6	102
圖二十二 情況I.5 當 θ5=θ6 且 θ3=θ6	102
圖二十三 情況I.6當 θ6+π=θ5 且 θ3=θ6	103
圖二十四 情況I.6 當θ5=θ6+π 且 θ3=θ6	104
圖二十五 情況I.6 當θ5=θ6+π 且 θ3=θ6	104
圖二十六 情況I.7當θ6+π=θ5 且 θ3=θ6+π	105
圖二十七 情況I.7 當θ5=θ6+π 且 θ3=θ6+π	106
圖二十八 情況I.7 當θ5=θ6+π 且 θ3=θ6+π	106
圖二十九 情況I.8當θ6=θ5 且 θ3=θ6+π	107
圖三十 情況I.8 當θ5=θ6 且 θ3=θ6+π	108
圖三十一 情況I.8 當θ5=θ6 且 θ3=θ6+π	108
圖三十二 情況I.9當 θ3=θe 且 θ5=θ4	109
圖三十三 情況I.9 當θ3=θe 且 θ5=θ4	110
圖三十四 情況I.10 θ4=θ5 且 θ3=θe+π	111
圖三十五 情況I.10 θ4=θ5 且 θ3=θe+π	111
圖三十六 情況I.11 θ4=θ5+π 且 θ3=θe+π	112
圖三十七 情況I.11 θ4=θ5+π 且 θ3=θe+π	112
圖三十八 情況I.12 θ4+π=θ5 且 θ3=θe	113
圖三十九 情況I.12 θ4+π=θ5 且 θ3=θe	114
圖四十 情況I.13 當 θ3=θ6 且 θ3=θe	115
圖四十一 情況I.13 當 θ3=θ6 且 θ3=θe	115
圖四十二 情況I.13 當 θ3=θ6 且 θ3=θe	116
圖四十三 情況I.14 當 θ3=θ6 且 θ3+π=θe	117
圖四十四 情況I.14 當 θ3=θ6 且 θ3+π=θe	117
圖四十五 情況I.14 當 θ3=θ6 且 θ3+π=θe	118
圖四十六 情況I.15 當 θ3=θ6+π 且 θ3=θe	119
圖四十七 情況I.15 當 θ3=θ6+π 且 θ3=θe	120
圖四十八 情況I.15 當 θ3=θ6+π 且 θ3=θe	120
圖四十九 情況I.16 當 θ3=θ6+π 且 θ3=θe+π	121
圖五十 情況I.16 當 θ3=θ6+π 且 θ3=θe+π	121
圖五十一 情況I.16 當 θ3=θ6+π 且 θ3=θe+π	122
圖五十二 情況I I.1 當 θ3=θ5 且 θf=θ5	123
圖五十三 情況I I.1 當 θ3=θ5 且 θf=θ5	123
圖五十四 情況I I.2 當 θ3=θ5+π 且 θf=θ5	124
圖五十五 情況I I.2 當 θ3=θ5+π 且 θf=θ5	124
圖五十六 情況I I.3 當 θ3=θ5+π 且 θf=θ5+π	125
圖五十七 情況I I.3 當 θ3=θ5+π 且 θf=θ5+π	125
圖五十八 情況I I.4 當 θ3=θ5 且 θf=θ5+π	126
圖五十九 情況I I.4 當 θ3=θ5 且 θf=θ5+π	126
圖六十 情況I I.5 當 θ3=θ5 且 θf=θ5+π	127
圖六十一 情況I I.5 當 θ3=θ5 且 θf=θ5+π	127
圖六十二 情況I I.6 當 θf=θ5 且 θe=θ6+π	128
圖六十三 情況I I.6 當 θf=θ5 且 θe=θ6+π	128
圖六十四 情況I I.7 當 θf+π=θ5 且 θe+π=θ6	129
圖六十五 情況I I.7 當 θf+π=θ5 且 θe+π=θ6	129
圖六十六 情況I I.8 當 θf+π=θ5 且 θe=θ6	130
圖六十七 情況I I.8 當 θf+π=θ5 且 θe=θ6	130
References
參考文獻
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