On the Study of Modularization of Linkage Mechanisms

• Main Authors: Huan-Yu Lin, 林煥祐
• Other Authors: Hong-Sen Yan
• Format: Others
• Language: zh-TW
• Published: 2002
• Online Access: http://ndltd.ncl.edu.tw/handle/s5py25

碩士 === 國立成功大學 === 機械工程學系碩博士班 === 90 === The purpose of this work is to study all the possible serial and parallel combinations for different linkage-mechanism modules that are of single degree of freedom. The kinematic characteristics of the modules are first explained. And, the combination of mechanisms is done through the transformation of input motion into the necessary motion characteristics and output motions. As the result, constraints and feasibility of the combinations are concluded. Then the basic characteristics of the linkage mechanisms are introduced, and the structures of the mechanisms and the relationship of the motion connection are expressed by a directed tree. Graph theory is the basic tool used to determine the numbers of combinations of the linkage mechanisms. By using the path incidence matrix method, it computes the feasible results of the combinations of the specific modules that are combined by the serial form, the parallel form, or the serial-parallel form, and the solid models are built to show the feasibility. The conception of the layer arrangement is applied first and then the original conceptual design of the solid model is introduced, that includes the design of the frame, the disposition of the joints that contain revolute joints and prismatic joints, and the all function of the parts of the model. The dimension design and the fabrication of the model are explained in detail. At last, this work provides three examples for the applications of the model. One is about the synthesis of the simple linkage mechanisms, another is about the test of the motion workability of the new design, and the last is to build the real shapes about the serial and parallel combinations with linkage mechanisms.