Topological Analysis of Planar Linkage Mechanisms on the Basis of Mobility Type Requirement

• Main Authors: Hsu Che Hao, 許哲豪
• Other Authors: Chen Dar Zen
• Format: Others
• Language: en_US
• Published: 2003
• Online Access: http://ndltd.ncl.edu.tw/handle/34983066107503218209

碩士 === 國立臺灣大學 === 機械工程學研究所 === 91 === The concept of mobility type requirement is introduced in this work. On the basis of mobility type requirement, the topological analysis of planar linkage mechanisms is accomplished with an oriented assignment of actuating pairs and ground link. In this thesis, the relation between type of degree of freedom and mobility types is introduced. Briefly speaking, total mobility mechanisms can be obtained by assigning actuating pairs and ground link on to total and partial degree of freedom Kinematic Chains; partial mobility mechanisms can be obtained by assigning actuating pairs and ground link on to partial and fractionated degree of freedom Kinematic Chains; fractionated mobility mechanisms can be obtained by assigning actuating pairs and ground link on to partial and fractionated degree of freedom Kinematic Chains. On this concept, the systematic assigning processes of actuating pairs and ground link of planar linkage mechanisms are developed with a convenience tool, modified dual graph representation. According to these assigning procedures, designers can acquire fully constrained mechanisms with the expected mobility type. In addition, feasible output locations to avoid redundancy of the planar linkage mechanisms are also identified out. It helps designers to make decision of output links location. Moreover, the ground-actuated mechanisms and the mechanisms which ground and output adjacent are classified. This helps designers to choose the mechanisms with more efficiency.