Computer Aided Kinematics Analysis of Plannar Multi-loop Linkages

• Main Authors: Chang, Wen-shan, 張文山
• Other Authors: Wang Li-Chun
• Format: Others
• Language: zh-TW
• Published: 1997
• Online Access: http://ndltd.ncl.edu.tw/handle/87196487106549032826

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.