The study of Homotopy Method on the Kinematic Synthesis of Planar Rigid Body

• Main Authors: Kun-Hong Tsai, 蔡昆宏
• Other Authors: none
• Format: Others
• Language: zh-TW
• Published: 2011
• Online Access: http://ndltd.ncl.edu.tw/handle/99669177664256062749

碩士 === 義守大學 === 機械與自動化工程學系碩士班 === 99 === The objectives of this study is to use the Homotopy method on the motion generation of planar four-bar mechanisms with multiple precision points. Homotopy method unlike other numerical methods does not need initial estimates to converge to all possible solutions. The basic concepts of Homotopy method will be presented followed by the kinematic equations of planar four-bar mechanisms. The solution of five precision-point solutions of motion generation of planar four-bar mechanisms will be calculated based on a self-developed MATLAB program. The solutions and their corresponding four-bar mechanisms will be numerically tabulated and graphically shown to indicate the achievement of prescribed motion.