Analysis of CRRC Related Mechanisms Used in Deployable Mechanisms

• Main Authors: Yi-JhenLin, 林宜臻
• Other Authors: Chin-Tien Huang
• Format: Others
• Language: zh-TW
• Published: 2013
• Online Access: http://ndltd.ncl.edu.tw/handle/36753980312598515757

碩士 === 國立成功大學 === 機械工程學系碩博士班 === 101 === Jitterbug-like linkages have been employed in deployable mechanisms that have Jitterbug motion. The spatial CRRC linkage and its related linkages have been applied in Jitterbug-like linkages. This thesis aims at answering the following questions: why can these CRRC related linkages be applied in deployable mechanisms? What is the relationship between CRRC related linkages and Jitterbug-like linkages? The most direct way of studying the CRRC linkage is through the investigation of its coupler curve because the coupler curve plays an important role in guiding the coupler to conduct tasks, such as rigid-body guidance and path generation. Röschel described that the motion of polyhedral linkages is Darboux motion. The thesis first analyzes the coupler curve of CRRC related linkages and verifies the correlation between its coupler curve and the Darboux motion. Then we use Solidworks○R to simulate and verify the result. This thesis also uses screw theory to investigate the motion of the CRRC related linkages. Chasles theorem states that a spatial displacement can be represented by a rotation about an axis and a translation along the same axis. In instantaneous kinematics, the locus of all instantaneous screws forms a screw surface. By observing in different coordinate systems, this thesis determines the instantaneous screws of the CRRC related linkages by varing parameter settings and reports the instantaneous screw surfaces of CRRC related linkages. When studying the finite displacement of the CRRC related linkages, we use the ranks of screw matrices to determine the linear properties of finite screws. The thesis investigates the finite screws of CRRC related linkages and uses numerical examples to study the linear properties of the finite screws. The result shows that the ranks of finite displacement screw matrices of the CRRC related linkages are three and that they do not possess linear properties. Keywords：Deployable Mechanisms, Coupler Curve, Instantaneous Screw, Finite Displacement