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System No. U0002-1909201921533900
Title (in Chinese) 4R1P平面五連桿機構分析與合成
Title (in English) Analysis and Synthesis of 4R1P Planar Five-bar Linkage
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 107
Semester 2
PublicationYear 108
Author's name (in Chinese) 李傑揚
Author's name(in English) Chieh-Yang Lee
Student ID 606350022
Degree 碩士
Language Traditional Chinese
Other Language
Date of Oral Defense 2019-06-26
Pagination 49page
Committee Member advisor - 劉昭華
co-chair - 陳正光
co-chair - 陳冠辰
Keyword (inChinese) 4R1P平面五連桿機構
機構運動分析
平面撓度分析
Keyword (in English) 4R1P planar fivebar linkage
kinematic analysis of mechanisms
Planar Compliance Analysis.
Other Keywords
Subject
Abstract (in Chinese)
本論文針對四個旋轉接頭及一個稜柱接頭所構成的平面五連桿機構,研究內容包括運動分析、機構合成、極限位置分析、與撓度分析。運動分析包括正向位置分析、逆向位置分析、速度與加速度分析、及奇異位置分析。本文並提出此五連機構的極限位置分析的方法,先由稜柱接頭長度判定是否有極限位置,當極限位置存在時可利用四連桿公式找出機構輸出桿運動範圍。最後,本文亦找出機構平面撓度的解析公式,亦即當輸出桿上一點在x及y方向各受到一單位外力時,在此點所產生x及y方向的位移。
Abstract (in English)
Abstract:
In this thesis a planar mechanism with 4 revolute joints and a prismatic joint, called 4R1P mechanism, is dealt with. The study includes kinematic analysis, mechanism synthesis, limiting position analysis, and determining planar compliance of this mechanism. Kinematic analyses performed on this mechanism include forward and inverse position analysis, velocity analysis, acceleration analysis, and locating singular positions. A procedure to determine limiting positions of this mechanism is suggested. First the total length of the two links connected by a prismatic joint is used to determine if limiting positions exist, and when they do exist, extreme positions of fourbar linkage may be used to locate limiting positions of this fivebar mechanism. In this thesis, analytic expressions for planar compliance are also obtained, which are displacements at the point on which unit forces are applied.
Other Abstract
Table of Content (with Page Number)
目錄
中文摘要……………………………………………………………I
英文摘要……………………………………………………………II
目錄………………………………………………………………………III
圖目錄…………………………………………………………………V
符號表…………………………………………………………………VIII
第一章 緒論……………………………………………………1
1.1 前言與文獻回顧…………………………………1
第二章 機構分析與合成…………………………3
2.1 機構介紹………………………………………………3
2.2 位置分析………………………………………………4
2.2.1正向位置分析…………………………………4
2.2.2逆向位置分析…………………………………7
2.3 速度分析………………………………………………9
2.4 奇異位置分析……………………………………11
2.5 加速度分析…………………………………………15
2.6 機構合成………………………………………………17
第三章 極限位置分析………………………………19
3.1 稜柱接頭的伸長量……………………………19
3.2 輸出桿運動範圍…………………………………19
3.2.1 θ_1及θ_2的範圍……………………………20
3.3指定θ_4數值時Q點範圍………………………31
第四章 撓度分析……………………………………………32
第五章 結論………………………………………………………48
參考文獻………………………………………………………………49
 
圖目錄
圖1平面4R1P五連桿機構……………………………………………3
圖2五連桿機構位置(一) ……………………………………………4
圖3五連桿機構位置(二) ……………………………………………4
圖4第2桿角度θ_2與第4桿角度θ_4相減時為-180°……………………12
圖5第2桿角度θ_2等於第4桿角度θ_4…………………………………13
圖6第2桿角度θ_2與第4桿角度θ_4相減時為180°……………………………14
圖7Q能夠出現的區域…………………………………………………20
圖8曲柄搖桿四連桿的極限位置-迴圈一……………………………21
圖9曲柄搖桿四連桿的極限位置-迴圈一……………………………21
圖10曲柄搖桿四連桿的極限位置-迴圈二…………………………21
圖11曲柄搖桿四連桿的極限位置-迴圈二…………………………22
圖12雙搖桿機構的極限位置-迴圈一…………………………………22
圖13雙搖桿機構的極限位置-迴圈一…………………………………23
圖14雙搖桿機構的極限位置-迴圈一…………………………………23
圖15雙搖桿機構的極限位置-迴圈一…………………………………23
圖16雙搖桿機構的極限位置-迴圈二…………………………………24
圖17雙搖桿機構的極限位置-迴圈二…………………………………24
圖18雙搖桿機構的極限位置-迴圈二…………………………………24
圖19雙搖桿機構的極限位置-迴圈二…………………………………25
圖20三搖桿機構的極限位置-固定桿為最長………………25
圖21三搖桿機構的極限位置-固定桿為最長…………………………25
圖22三搖桿機構的極限位置-固定桿為最長………………26
圖23三搖桿機構的極限位置-固定桿為最長…………………………26
圖24三搖桿機構的極限位置-第2桿為最長……………………………26
圖25三搖桿機構的極限位置-第2桿為最長……………………………27
圖26三搖桿機構的極限位置-第2桿為最長……………………………27
圖27三搖桿機構的極限位置-第2桿為最長……………………………27
圖28三搖桿機構的極限位置-第4桿為最長……………………………28
圖29三搖桿機構的極限位置-第4桿為最長……………………………28
圖30三搖桿機構的極限位置-第4桿為最長……………………………28
圖31三搖桿機構的極限位置-第4桿為最長……………………………29
圖32三搖桿機構的極限位置-第1、3桿為最長…………………………29
圖33三搖桿機構的極限位置-第1、3桿為最長…………………………29
圖34三搖桿機構的極限位置-第1、3桿為最長…………………………30
圖35三搖桿機構的極限位置-第1、3桿為最長…………………………30
圖36θ_4固定時Q點位置在一個圓周上……………………………………………31
圖37五連桿機構每個桿件自由體圖………………………………………………34
圖38第2桿自由體圖………………………………………………………………………………36
圖39視第2桿為懸臂樑…………………………………………………………………………38
圖40第4桿自由體圖………………………………………………………………………………39
圖41第4桿軸向自由體圖……………………………………………………………………40
圖42視第4桿為簡支外伸樑但在支撐C與E有位移……………………41
圖43E點位移圖…………………………………………………………………………………………41
圖44第4桿的彎矩M_4 (x_4)及剪力S_4 (x_4),但x_4範圍在0≤x_4≤w……43
圖45第4桿的彎矩M_4 (x_4)及剪力S_4 (x_4),但x_4範圍在w≤x_4≤L……43
References
參考文獻
1.	https://www.youtube.com/watch?v=fpz2cc2WtLM&t=4s
2.	https://www.youtube.com/watch?v=R_AIzCTYBNs
3.	Tsai, L.W., and Tahmasebi, F., Synthesis and Analysis of a New Class of Six-DOF Parallel Mini-manipulators, J. Robot. Sys., Vol. 10, No. 5, pp. 561-580, 1993.
4.	Zhang, Y., Yao, Y., and Zha, J., Study on design of a 4RIP-active balancer, China Mechanical Engineering, 21(10), pp.1208-1213, 2010.
5.	Guo, W., Huang, Q., Zou, H., Gao, F., and Du, R., Mobility and characteristics chart of 4R1P-type five-bar planar parallel mechanisms, Chinese Journal of Mechanical Engineering, 41(8), pp.42-49, 2005.
6.	Sun, L., Kong, J., Yang, J., and Gui, H., Reverse Optimize Design of Controlled Five-Bar RRRPR Mechanism Based on Generation Algorithm, IEEE International Conference on Intelligent Systems and Applications, 2009.
7.	Guo, W. Z., Du, R., Wang and, J. X., On the mobility of single loop N-bar linkage with one prismatic joint, ASME International Design    Engineering Technical Conferences & Computers and Information in Engineering Conference, 2005.
8.	Guo, W., Huang, Q., Zou, H., Gao, F., and Du, R., Mobility of 4R1P-Type Five-Bars Using Characteristics Charts, In: Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC-572366, 2004, Salt Lake City, Utah, USA, pp. 627~634, 2004.
9.	Tsai, L.W., Robot Analysis : The Mechanics of Serial and Parallel Manipulator, Wiley-Interscience, 1999.
10.	Norton, R.L., Design of machinery : an introduction to the synthesis and analysis of mechanisms and machines. McGraw-Hill, 2008.
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