Kinematic Families of Non-Fractionated Geared Kinematic Chains due to Kinematic Degeneration

• Main Authors: Chia-Ying Lin, 林佳穎
• Other Authors: Dar-Zen Chen
• Format: Others
• Language: en_US
• Published: 2013
• Online Access: http://ndltd.ncl.edu.tw/handle/67536548963028823190

碩士 === 國立臺灣大學 === 機械工程學研究所 === 101 === A methodology on kinematic degeneration among structurally non-fractionated but kinematic fractionated geared kinematic chains (GKCs) is presented in graph representation using the concept of kinematic fractionation. By degenerating two or more coaxial links as a rigid link in a GKC, a higher-DOF GKC can be degenerated into lower-DOF GKC(s). According to location of coaxial links in the kinematic units (KUs) fractionated from graph representation, coaxial links are classified into intra- and inter-KU coaxial links. The characteristics and rules of intra- and inter-KU degeneration between the numbers of DOF, links as well as joints are revealed according to degeneration of intra- and inter-KU coaxial links, respectively. Due to different kinematic behaviors obtained by degenerating different coaxial links, the higher-DOF GKC and its all lower-DOF GKCs are clustered in one kinematic family. The specific relations of strength on lower-DOF members between kinematic families are expressed. Kinematic families provide compact relations between different DOFs and links of GKCs