| Summary: | 碩士 === 國立臺灣海洋大學 === 機械與輪機工程學系 === 92 === The objective of the thesis is to study the problems of the kinematic and static analysis of constant-velocity shaft couplings. A constant-velocity shaft coupling can transmit motion and torque with a one to one constant ratio between two intersecting shafts, while the shaft angle can be varied within a range. The thesis focuses on mechanism-type couplings with single degree-of-freedom, and single loop with up to seven links. Three types of constant-velocity shaft couplings are studied, including 7R, Tracta and Altmann couplings. Using the dual-number method as the mathematical tool, the spatial link model is formulated based on the dual transformation matrices; then, the displacement, velocity and static equations can be derived from the loop closure equations. The results show the effects of the shaft angle to the link displacement, velocity and static analysis. One important contribution of the thesis is that all the joint displacement results are obtained in an analytical (closed-form) manner, without resorting to numerical schemes.
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