Configuration Transformations of Mechanisms with Variable Topologies

可變拓樸機構構形轉換之研究

康振雄(Chen-Hsiung Kang) ； 顏鴻森(Hong-Sen Yan)

《中國機械工程學刊》 30卷4期 (2009/08) Pp. 311-321

https://doi.org/10.29979/JCSME.200908.0005

摘要

當一機構在其操作過程中具有多個拓樸構造時，稱為可變拓樸機構或變化鏈機構；而可變拓樸機構在操作過程中，其接頭的形態或運動方向會發生改變者，則稱為可變接頭。可變拓樸機構能完成多功能性的設計需求，因此，機構各狀態間的構形變化關係須被確定，以符合設計需求。本文的主要目的，乃提出狀態間構形映至函數的方法，以便求得各狀態之構形變化關係，確認其拓樸特性。首先定義運算子(Operating)及運算法則(Principle)，探討可變接頭因輸入運動產生拓樸特性的變化，並提出映至函數(Mapping function)的概念，接著以著色邊圖之矩陣描述可變拓樸機構在各狀態之構形，最後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。

並列摘要

A mechanism with multiple topological structures during the operation process is called a mechanism with variable topologies (MVT). The kinematic joints whose types and/or motion orientations are changeable during the operation process of an MVT are called the variable joints. The MVTs are usually designed for achieving multiple design requirements. Hence, the variability configurations of an MVT at each stage should be determined to meet the design requirements. This paper proposes a mapping function method to describe the topology changes of mechanisms and to determine the relationships of mechanism configurations between different stages. Firstly, the operation and its principles are defined. Then, a variable joint subject to the input motion is modeled for its topology changes, and the concept of mapping functions is proposed. Furthermore, the configurations of an MVT are represented by the matrix forms of colored graphs by edges. A sawing mechanism and a mechanical lock with variable passwords are exemplified to analyze the topological characteristics and the configuration transformations in MVTs.

並列關鍵字

mechanisms with variable topologies ； variable joints ； mapping functions ； configuration transformations