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研究生： 康振雄
Kang, Chen-Hsiung
論文名稱： 可變拓樸機構之構形合成
Configuration Synthesis of Mechanisms with Variable Topologies
指導教授： 顏鴻森
Yan, Hong-Sen
學位類別： 博士
Doctor
系所名稱： 工學院 - 機械工程學系
Department of Mechanical Engineering
論文出版年： 2008
畢業學年度： 96
語文別： 英文
論文頁數： 172
中文關鍵詞： 構形合成 、可變接頭 、映至函數 、機械鎖 、可變拓樸機構
外文關鍵詞： mechanisms with variable topologies, mechanical lock, mapping functions, variable joints, configuration synthesis
相關次數： 點閱：76  下載：10 
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    • 當一機構在操作過程中，若其伴隨之拓樸構造產生變化，則此機構稱為可變拓樸機構(Mechanism with variable topologies, MVTs)或變化鏈機構(Mechanism with variable chains)。可變拓樸機構的拓樸構造之所以會改變，乃是部份接頭在機構的操作過程中，其形態或運動方向發生改變所造成，使得機構的拓樸構造也隨之改變，此類接頭稱為可變接頭(Variable joints)。本論文旨在針對可變拓樸機構之構造合成提出一套系統化的方法，並探討機構在每一階段，其構形之變化情形。首先，介紹變化鏈的不同用語，包含變自由度機構、變胞機構、不連續可動機構、及可變拓樸機構。接著，針對可變接頭受到輸入運動所產生的拓樸構造特性進行分析研究，定義接頭運算及接頭間的運算法則，提出可變接頭映至函數的概念，並提出狀態間構形映至函數的方法，以求得各狀態之構形變化關係，確認其拓樸特性。再者，本論文建立基本合成推論，提出簡潔的統一化圖之概念表示法，來描述可變拓樸機構的拓樸構形變化特性。另外，以自動夾持鋸及可變號按鍵鎖二種可變拓樸機構為例，有效分析各狀態構形之轉換關係及其拓樸特性。最後，本研究依據基本概念、簡潔化的統一化圖、坐標序列、以及可動度準則，提出一套可變拓樸機構的構形合成方法，可系統化合成出新型可變拓樸機構的構形。以無變號按鍵鎖、自動夾持鋸機構、有變號按鍵鎖為例，驗證所提出方法之可行性，分別獲得一種新型無變號按鍵鎖、二十三種新型自動夾持鋸、及五種新型有變號按鍵鎖機構。

    Mechanisms with multiple topological structures during the operation process are called mechanisms with variable topologies (MVTs), and their corresponding kinematic chains are called variable chains. The kinematic joints whose types and/or motion orientations are changeable during the operation process of an MVT are called variable joints. The MVTs are usually designed for satisfying multiple design requirements. This work presents a systematic design methodology for MVTs and determines the variability configurations of mechanisms subject to the design requirements at each stag. First, locutions of mechanisms with multiple configurations including kinematotropic, metamorphic, discontinuously movable mechanisms, and MVTs are introduced. Then, the topological characteristics of variable joints subject to input motions are investigated. The operation as well as its principles are defined, and the concept of mapping functions of variable joints is provided. A mapping function method is provided to describe the topological characteristics of mechanisms and to determine the relationships of mechanism configurations between different stages. Moreover, fundamental synthesizing corollaries are established. Then, the concept of the simplified unified graph that represents topological changes in an MVT is used to address the configuration of MVTs. A sawing mechanism and a mechanical lock with variable passwords are exemplified to analyze their topological characteristics and configuration transformations of MVTs. Finally, according to the fundamental concepts, simplified unified graph, coordinate sequence, and mobility criterion at each stage, a design methodology is proposed for the configuration synthesis of MVTs. A mechanical lock with invariable passwords, a sawing mechanism, and a mechanical lock with variable passwords are exemplified to verify the feasibility of the design methodology. And, one new mechanical lock with invariable passwords, twenty-three new sawing mechanisms, and five new mechanical locks with variable passwords are obtained.

    摘要(ABSTRACT in Chinese) I ABSTRACT II ACKNOWLEDGEMENTS IV TABLE OF CONTENTS VI LIST OF TABLES X LIST OF FIGURES XI NOMENCLATURES XVI Chapter 1 INTRODUCTION 1 1.1 Motivation 1 1.2 Literature Review 2 1.2.1 Mechanisms with Closed Chains 2 1.2.2 Mechanisms with Open Chains 3 1.2.3 Mechanisms with Multiple Configurations 3 1.2.3.1 Kinematic Analysis of Mechanisms with Variable Topologies 4 1.2.3.2 Kinematotropic Mechanism (KM) or Generalized Kinematotropic Mechanism (GKM) 5 1.2.3.3 Discontinuously Moveable Mechanism (DMM) 6 1.2.3.4 Metamorphic Mechanism 6 1.2.3.5 Mechanism with Variable Topologies (MVT) 8 1.3 Objectives 9 1.4 Organization of the Dissertation 10 Chapter 2 FUNDAMENTAL OF MECHANISMS 13 2.1 A Sense of Mechanisms 13 2.2 Locutions of Mechanisms with Multiple Configurations 17 2.2.1 Kinematotropic Mechanism (KM) or Generalized Kinematotropic Mechanism (GKM) 18 2.2.2 Discontinuously Moveable Mechanism (DMM) 24 2.2.3 Metamorphic Mechanism 29 2.2.4 Mechanism with Variable Topologies (MVT) 35 2.3 Summary 41 Chapter 3 TERMINOLOGY AND DEFINITIONS 44 3.1 Variable Joints 44 3.2 Topological Characteristics of Variable Joints 47 3.3 Graph Representations 49 3.4 Basic Definitions 52 3.5 Operations 54 3.6 Matrix Representations of Colored Graphs by Edges 59 3.7 Summary 62 Chapter 4 MAPPING FUNCTIONS AND SYNTHESIS OF AN MVT WITH TWO LINKS AND ONE VARIABLE JOINT 63 4.1 Mapping Functions of Variable Joints 63 4.1.1 The Concept of a Mapping Function 64 4.1.2 Topological Changes of Variable Joints 66 4.1.3 Mapping Functions 66 4.2 Grammar 72 4.3 Fundamental Concepts 74 4.3.1 Changeable Types of Kinematic Pairs 74 4.3.2 Synthesis of a Mechanism with Two Links and One Variable Joint 75 4.4 Corollaries 77 4.5 Mapping Functions of Joint Homomorphism 78 4.6 Summary 82 Chapter 5 CONFIGURATION TRANSFORMATIONS OF MECHANISMS WITH VARIABLE TOPOLOGIES 84 5.1 Transformations among Graphs 84 5.2 Transformations among Matrices of Colored Graphs by Edges 86 5.3 Illustrative Examples 88 5.3.1 An Automatic Steel Clamping and Sawing Mechanism 89 5.3.2 One Step Push-Button Locks with Variable Passwords 94 5.4 Design Examples by Mapping Functions 102 5.5 Summary 110 Chapter 6 SYNTHESIS OF MECHANISMS WITH VARIABLE TOPOLOGIES 111 6.1 Design Process 111 6.2 Design Example 1: One Step Push-Button Stopper Locks with Invariable Passwords 113 6.2.1 Existing Designs 113 6.2.2 Structural Graphs 116 6.2.3 Unified Graph 117 6.2.4 Simplified Unified Graph 117 6.2.5 Generalized Graph 118 6.2.6 Atlas of Generalized Graphs 119 6.2.7 Specialized Graphs 119 6.2.8 Feasible Specialized Graphs 120 6.2.9 Atlas of Designs 120 6.2.10 Atlas of New Designs 121 6.3 Design Example 2: An Automatic Steel Clamping and Sawing Mechanism 122 6.3.1 An Existing Design 122 6.3.2 Structural Graphs 126 6.3.3 Unified Graph 127 6.3.4 Simplified Unified Graph 127 6.3.5 Generalized Graph 128 6.3.6 Atlas of Generalized Graphs 129 6.3.7 Specialized Graphs 129 6.3.8 Feasible Specialized Graphs 134 6.3.9 Atlas of Designs 135 6.3.10 Atlas of New Designs 138 6.4 Design Example 3: One Step Push-Button Stopper Locks with Variable Passwords 141 6.4.1 An Existing Design 141 6.4.2 Structural Graphs 146 6.4.3 Unified Graph 147 6.4.4 Simplified Unified Graph 147 6.4.5 Generalized Graph 148 6.4.6 Atlas of Generalized Graphs 148 6.4.7 Specialized Graphs 148 6.4.8 Feasible Specialized Graphs 150 6.4.9 Atlas of Designs 152 6.4.10 Atlas of New Designs 152 6.5 Summary 155 Chapter 7 CONCLUSIONS AND SUGGESTIONS 157 7.1 Conclusions 157 7.2 Suggestions 159 BIBLIOGRAPHY 161 VITA 169 自述(VITA in Chinese) 171 COPYRIGHT STATEMENT 172

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