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題名 | 轉換矩陣法用於具多Holonomic運動對機構之運動分析=Application of Matrix Method on the Kinematic Analysis of Mechanisms with Holonomic Pairs |
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作者 | 陳鈞泊; 李志中; 林鎮洲; | 書刊名 | 力學 |
卷期 | 17:2 2001.12[民90.12] |
頁次 | 頁133-142 |
分類號 | 446.013 |
關鍵詞 | 滾動接觸對; 運動分析; 矩陣法; 數值解; Rolling pairs; Position analysis; Matrix transformation method; Numerical solution; |
語文 | 中文(Chinese) |
中文摘要 | 一般分析機構的運動,有多種方法可以使用,如向量法(Vector algebra method)、矩陣法(Matrix method)或雙數法(Dual number method)等。其中矩陣法可清楚描述物體之幾何外形與關係,較易於處理複雜的物體與運動對。為了對具滾動接觸對之機構進行分析,本文首先討論建立滾動接觸對之轉換矩陣的方法,其次利用轉換矩陣所得之位置方程式,並加上滾動接觸之運動限制,得到完整的運動分析方程組,最後以數值解析法求得機構之位置解。 |
英文摘要 | There are several methods for the kinematic analysis of mechanisms such as Vector algebra method, Dual unmber method, and Matrix method. Among these methods, the matrix method has the advantage of describing the geometric relations of link members such that it is easy to handle kinematic pairs of complex configuration. In this paper, a procedure for modeling the higher pair in the mechanism is established using the matrix transformation method. Then, the loop closure equations from the overall transformation matrix and displacement constraints for two links in rolling pair are derived. Finally, the comprised simultaneous equations for the position analysis of the mechanism are solved via the numerical method. An example is also given to illustrate the procedure. |
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