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頁籤選單縮合
題 名 | On the Order and Freedom of the Curve of RPCCR Linkages=RPCCR連桿組耦桿曲線冪次與自由度之研究 |
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作 者 | 顏鴻森; 謝文祥; | 書刊名 | 中國機械工程學刊 |
卷 期 | 19:4 1998.08[民87.08] |
頁 次 | 頁369-378 |
分類號 | 446.011 |
關鍵詞 | RPCCR連桿組; 耦桿曲線; 冪次; 自由度; Coupler curve; RPCCR linkages; Algebraic curve; Spatial linkage; |
語 文 | 英文(English) |
中文摘要 | 本文之目的在於探討所有RPCCR 連桿組的耦桿曲線性質。首先,使用具二元數 (Dual number) 項的 3 × 3 矩陣以建立閉迴路方程式,推得各接頭之位移方程式,並將所 有接頭變數以輸入與輸出變數表示。 接著,以 D-H 矩陣來推導耦桿曲線的參數方程式。最 後, 導入齊次座標, 並根據代數曲線及立體解析幾何探討耦桿曲線的重要性質。 文中以 RPCCR 和 RRPCC 兩連桿組為範例來說明。 並進一步討論本研究結果在尺寸合成方面之應用 。 |
英文摘要 | The purpose of this paper is to investigate the property of the coupler curves generated by RPCCR linkages. First, the 3 × 3 matrix with dual elements is used to establish the loop closure equation, the displacement equations are derived, and all joints variables are expressed in terms of input and output variables. Then, the parametric equations of the coupler curve are found by the D-H matrix. Finally, homogeneous coordinate is introduced to those displacement equations, and the order and some critical properties of the coupler curve are investigated based on the theories of algebraic curve and analytical geometry of three dimensions. In addition, RPCCR and RRPCC linkages are used as examples for illustrations. Moreover, the results on the application of dimensional synthesis are discussed. |
本系統中英文摘要資訊取自各篇刊載內容。