Driving Force and Constraint Force Analyses of the Muti-Loop Link -ages

• Main Authors: Ming-Shing Lue, 盧明興
• Other Authors: Li-Chun Wang
• Format: Others
• Language: zh-TW
• Published: 1996
• Online Access: http://ndltd.ncl.edu.tw/handle/05631552918075247903

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.