| Summary: | 碩士 === 國立臺灣科技大學 === 機械工程研究所 === 84 === A unified method for analyzing the constraint force and driving
force of general muti-loop, muti-degree-of-freedom spatial
linka- ges is developed in this thesis. The mechanism is first
decompos- ed into a Complemental Tree-type Mechanism （CTM）by
virtually disconnecting the cut joints of the independent
kinematic loops. According to this approach and the Generalized
DAlemberts prin- ciple, the governing dynamic equation of the
mechanism is derived .In which the constraint force exerted on
the cut joints are incl uded as a virtual external applied
forces;the kinematic conditio- ns imposed on these forces are
formulated according to the type of the cut joints.In addition,
the characteristics of overconstra- ined kinematic loops are
investigated,and additional geometric constraint equations are
derived to take them into account.The dynamic equation is then
combined with the kinematic and the geo- metric constriant
equations to form a linear system of equations in terms of the
driving forces and constraint forces of cut joint s.Based on
this formulated,the procedures for solving the direct and
inverse dynamics problems are derived.
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