| Summary: | 碩士 === 臺灣大學 === 機械工程學研究所 === 98 === Topological synthesis of geared kinematic chains (GKCs) had been studied intensively, atlases of admissible graphs with up to 3 degree-of-freedom (DOF) 8-link are enumerated by the view of the DOF individually. These synthesized GKCs are used in accordance with its own DOF in the past. In a GKC, clutches can be used for connecting two or more coaxial links to change its topological structure, reduces the DOF and obtain desired kinematic behavior(s). In this paper, a method to derive all possible kinematic behavior(s) of a GKC when coaxial links inside are connected will be introduced. This process of connecting two coaxial links in a GKC to change its topological structure and obtain changed kinematic behavior(s) is defined as mobility degeneration. It shows that not only topological structure and kinematic behavior of a GKC will be changed but also the DOF, the numbers of links and numbers of joints of the GKC will be reduced simultaneously. Criteria, characteristics of degeneration and rules for obtaining changed kinematic behavior(s) of a GKC will be developed. Applying the concept of degeneration on these atlases, a new finding of non-fractionated GKCs with up to 3-DOF 8-link is revealed. It is shown that these GKCs of different DOF can be associated together as several kinematic families. It is also shown that these GKCs of different DOF are not independent as previously considered.
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