Solving for Rigid-body Guidance of the Four-link Mechanism with Rolling Pairs by Optimization Method
碩士 === 國立臺灣大學 === 機械工程學研究所 === 93 === In this paper, the kinematic synthesis of a chopstick-type gripping mechanism containing rolling pairs is studied. The design equations of the mechanism used as a rigid-body guidance are established. The number of free choices in design variables in the kinemati...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2005
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| Online Access: | http://ndltd.ncl.edu.tw/handle/12673571148802041207 |
| Summary: | 碩士 === 國立臺灣大學 === 機械工程學研究所 === 93 === In this paper, the kinematic synthesis of a chopstick-type gripping mechanism containing rolling pairs is studied. The design equations of the mechanism used as a rigid-body guidance are established. The number of free choices in design variables in the kinematic synthesis is also discussed. The optimization-based numerical technique is applied to solve the design equations. The synthesized solutions are illustrated to discuss the kinematic states of the mechanism. It is also shown that the optimization-based method is effective in finding the admissible synthesis solution of the mechanism.
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