拘束條件應用於組裝模型與動態模擬之研究

The Application of Constraints in Assembly Models and Kinematic Simulations

陳彥伸(Yan-Shen Chen)

指導教授 ： 尤春風

國立臺灣大學/工學院/機械工程學研究所/碩士(2005年)

https://doi.org/10.6342/NTU.2005.00911

摘要

本文提供3D拘束條件的資料結構建構法則及閉迴路組裝的求解方法，可處理不足拘束、完整拘束及過度拘束等組裝狀況。拘束條件可運用在組裝模型及機構模擬上。所提出的拘束條件求解藉由將幾何接合關係轉換為組裝件的相對運動關係，並利用相對運動關係建立幾何拘束資料結構，最後透過資料結構求解閉迴路拘束問題。此外提供簡化閉迴路的機構接頭和組裝拘束條件的求解目標函式，及合理的初始建構法則，以提高組裝系統的穩定性與求解效率。

對於閉迴路的機構接頭，可在不破壞資料結構的情況下，對接頭的自由度進行控制及求解，故可以增加機構組裝求解的效率和穩定性，並且監測所有接頭自由度的變量變化，藉以進行動態分析。

關鍵字

組裝拘束條件 ； 組裝模型 ； 求解拘束條件 ； 幾何貼合 ； 機構接頭 ； 機構模擬

並列摘要

In this paper, a data structure for building the 3D constraints and solving methods for closed-loop assemblies is proposed. This approach can apply to assembly models and kinematic simulations to deal with under-constraint, well-constraint and over-constraint. The proposed constraint solving method determines the assembly configuration by applying the following procedures: (1) Transforming the geometric mating constraints into the relative motion relations, (2) Build data structure from the relative motion relations, (3) Solving closed-loop constraint problem by data structure. Besides, it can optimize the solving efficiency by simplifying the objective function of the closed-loop kinematic joint and assembly constraint, and the assembly system well be more robust if a reasonable initial value is given.

This approach is able to manipulate the degrees of freedom of a closed-loop kinematic joint and find the precise positions of parts without deconstructing the data structure of the joint. Thus, it can not only maximize the efficiency and robustness of an assembly constraint solver, but also monitor all variables of the degree of freedom of a joint for the dynamic analysis.

並列關鍵字

Assembly constraint ； Assembly modeling ； Constraint solving ； Mating condition ； Kinematic joint ； Kinematic simulations

參考文獻

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