| Summary: | 碩士 === 國立台灣工業技術學院 === 機械工程技術研究所 === 85 === A general and systematic approach for the computer
aieed analysis of multi-loop planar linkages is presented
in this thesis. In this approach, the independent loops
of the mechanism and their orientations are first
determined by applying the Depth First Search graph
theoretic algorithm to the corresponding kinematic graph. A
recursive algorithm is then developed for computing the
forward coordinate transformations. The displacement analysis
problem of the linkage is formulated base on the loop
closure constraints of the independent loops, and is solved
numerically by using a two-phase algorithm. This method
is not only numerically stable but also computationally
efficient. For velocity analysis, a method based on the
instant center consideration is first developed for
analyzing planar linkages up to six links. In addition, a
systematic method for the velocity and acceleration
analyses of general planar linkages is developed based on
the loop closexiure velocity and acceleration constraints.
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