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研究生：	劉建濠 Liou, Jian-Hao
論文名稱：	分析撓性機構之計算模型 : 軟體開發與實驗驗證 Computational Models for Analyzing Compliant Mechanisms: Software Development with Experiments
指導教授：	藍兆杰 Lan, Chao-Chieh
學位類別：	碩士 Master
系所名稱：	工學院 - 機械工程學系 Department of Mechanical Engineering
論文出版年：	2009
畢業學年度：	97
語文別：	英文
論文頁數：	67
中文關鍵詞：	嵌合扣件、撓性機構、能量法、撓性機構設計分析工具
外文關鍵詞：	Energy method, design tool for compliant, compliant mechanism, snap-fit assembly
相關次數：	點閱：116 下載：7
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本論文目的為發展出一套用於分析撓性機構之計算工具。相異於傳統之剛體機構，一體成型的撓性機構具有零磨耗、無背間隙及可微小化等優點，因此在許多應用上可取代剛體機構。但撓性機構的分析較為複雜，所以我們發展出一套可廣泛被應用且運算快速之簡易撓性機構分析設計圖型界面軟體，其中包含三類分析：第一為靜態分析，提供
使用者設計撓性機構的原型，並經由模擬分析的結果來修改其原型；第二為動態分析，其提供了四種常見撓性機構的分析－懸臂樑、雙單擺、曲柄滑塊機構與四連桿機構；第三為提供設計嵌合扣件之幾何形狀時的接觸力分析。我們利用能量法為基礎來發展上述之撓性機構計算模型，對於靜動態分析，分別進行實驗以驗證其準確性，並與商業軟體比較計算優越性。對於接觸力分析，利用最小位能原理配合序列二次規劃法(SQP)來解決接觸模型之問題，以求得扣件變形與受力，並進行實驗來測量嵌合扣件之受力以驗證比較。期望此軟體能提供使用者在設計撓性機構時一個運算快速且準確的分析工具。

The development of an analyzing tool for compliant mechanisms is presented in this thesis. The monolithic compliant mechanisms which are different from rigid body mechanisms have no friction/backlash and are capable of miniaturization, hence rigid body mechanisms can be replaced by compliant mechanisms in many applications. Since the analysis of compliant mechanism is much complicated, we develop a simple analysis tool equipped with graphical user interface which can be used for compliant mechanisms widely and efficiently. There are three types of analyses. Static toolbox is used for static analysis, users employ it to design and analyze the prototypes of compliant mechanisms. Dynamic toolbox is used for dynamic analysis of compliant mechanisms which consist of cantilever beam, double pendulum, slider crank mechanism and four-bar mechanism. And Snap-fit toolbox is used to solve the contact problem with different geometries of snap-fit. We develop the above analysis models of compliant mechanisms based on energy method. For the static and dynamic analyses, we perform experiments for validations and compare the simulations with commercial software for efficiency of calculations. For the contact model, we use the principle of minimum potential energy and sequential quadratic programming (SQP) to obtain the deformed shape and contact force of snap-fit. We further perform an experiment to measure the contact force of snap-fit assembly for validation. We expect this analysis tool can offer efficient and accurate analyses
while users use this tool to design compliant mechanisms.

摘要 ..................................................................................................................... I
ABSTRACT ........................................................................................................ II
致謝 ................................................................................................................. III
LIST OF CONTENTS ...................................................................................... IV
LIST OF TABLES ............................................................................................. VI
LIST OF FIGURES ......................................................................................... VII
LIST OF SYMBOLS .......................................................................................... X
CHAPTER 1 INTRODUCTION ....................................................................... 1
1.1 Introduction of Compliant Mechanisms ........................................................................... 1
1.2 Review of Dynamic Models for Complaint Mechanisms ................................................ 2
1.3 Review of Contact Models for Snap-fits .......................................................................... 4
1.4 Review of Compliant Mechanism Design Tools .............................................................. 5
1.5 Motivations and Objectives .............................................................................................. 6
1.6 Organization of Thesis ...................................................................................................... 7
CHAPTER 2 DYNAMIC MODEL FOR COMPLIANT MECHANISMS ... 9
2.1 Introduction ...................................................................................................................... 9
2.2 Generalized Multiple Shooting Method (GMSM) ........................................................... 9
2.3 Boundary Conditions for Various Illustrative Examples ................................................ 14
2.3.1 Boundary conditions of a cantilever beam ........................................................................... 15
2.3.2 Boundary conditions of a double pendulum ......................................................................... 16
2.3.3 Boundary conditions of a slider crank mechanism ............................................................... 18
2.3.4 Boundary conditions of a four-bar mechanism .................................................................... 19
2.4 Temporal Approximation ................................................................................................ 21
2.5 Simulations and Verifications ......................................................................................... 23
2.6 Conclusions .................................................................................................................... 27
CHAPTER 3 EXPERIMENTAL VALIDATIONS OF THE DYNAMIC
MODEL 29
3.1 Introduction .................................................................................................................... 29
3.2 Experiment of a Transversely Vibrating Cantilever Beam ............................................. 29
3.3 Experiment of a Compliant Four-bar Mechanism .......................................................... 34
3.4 Conclusions .................................................................................................................... 36
CHAPTER 4 A CONTACT MODEL FOR COMPLIANT FINGERS ........ 38
4.1 Introduction .................................................................................................................... 38
4.2 Mathematical Model of Contact Problem with Compliant Finger ................................. 38
4.3 Simulations with Experimental Validations ................................................................... 42
4.4 Conclusions .................................................................................................................... 45
CHAPTER 5 DEVELOPMENT OF A COMPLIANT MECHANISM
DESIGN TOOL ................................................................................................. 47
5.1 Introduction .................................................................................................................... 47
5.2 Static Toolbox ................................................................................................................. 48
5.3 Dynamic toolbox ............................................................................................................ 54
5.4 Snap-fit Toolbox ............................................................................................................. 58
5.5 Conclusions .................................................................................................................... 59
CHAPTER 6 CONCLUSIONS AND FUTURE WORKS ............................. 60
6.1 Conclusions .................................................................................................................... 60
6.2 Future Works .................................................................................................................. 61
REFERENCES .................................................................................................. 63
                                    

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校外：2009-07-23公開

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