平面連桿機構之模組化機械誤差分析方法

A Modular Method for Mechanical Error Analysis of Planar Linkages

鍾佳諭(Jia-Yu Chung)

指導教授 ： 徐冠倫

國立臺灣大學/工學院/機械工程學研究所/碩士(2020年)

https://doi.org/10.6342/NTU202004462

摘要

本文提出一簡單有效的模組化方法以分析平面連桿機構尺寸誤差對輸出運動誤差的影響，首先建立各基礎模組（RR雙連桿、PR雙連桿和RP雙連桿）的機械誤差方程式，接著重複套用這些基礎模組，以進行各平面連桿機構的敏感度分析和機械誤差分析，藉此可了解其各尺寸誤差對輸出運動誤差的影響程度，並可預測連桿機構可能產生的機械誤差。此模組化方法只需透過重複套用基礎模組即可分析複雜多連桿機構的機械誤差，此方法專注於拓樸結構而省去複雜的數學計算。此外，相對傳統閉迴路方法，此模組化方法不須為了一新機構而推導另一個機械誤差方程式，只需建立三個基礎模組的數學模型即可分析所有連桿機構之機械誤差，為一較有系統化之方法。

關鍵字

模組化方法 ； 平面連桿機構 ； 敏感度分析 ； 機械誤差分析 ； 速度誤差 ； 加速度誤差

並列摘要

This research proposes a simple and effective modular method to analyze the influence of dimension error of planar linkage mechanisms on output error motion. First, the study derives the mechanical error equation of each basic module including RR dyad, PR dyad and RP dyad. Next, the research repeatedly applies these basic modules to analyze the sensitivity and mechanical error of planar linkages. These analyses can be used to investigate the effect of each dimension error on output error motion and predict the mechanical error of linkages. The modular method can be adopted to analyze the mechanical errors of complex linkages only by repeatedly applying the basic modules. This approach focuses on the structural topology and eliminates complicated mathematical calculations. In addition, the modular method only needs to establish the mathematical models of three basic modules to analyze the mechanical errors of all planar linkages, instead of deriving another mechanical error equation for a new mechanism. Overall, it is a more systematic approach.

並列關鍵字

modular method ； planar linkage ； sensitivity analysis ； mechanical error analysis ； velocity error ； acceleration error

參考文獻

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