間歇型滑塊曲柄機構之運動與動態分析

Kinematic and Dynamic Analysis of an Intermittent Slider-Crank Mechanism

陳信任(Shin-Jen Chen)

指導教授 ： 黃健生

中原大學/工學院/機械工程研究所/碩士(2001年)

https://doi.org/10.6840/cycu200100103

摘要

本論文分析間歇型滑塊曲柄機構的運動及動態分析。間歇型滑塊曲柄機構是由四個部分所組成的：曲柄、氣壓缸、滑塊及在衝程兩端的阻塊。當滑塊接觸兩端的阻塊時，氣壓缸便會壓縮或伸長，而曲柄仍繼續旋轉，滑塊會停留在阻塊上一段時間，便於在阻塊上的機械手臂作上下運動。本文將間歇型滑塊曲柄機構的運動分為三階段分析，以 Hamilton 定理分別推導含有彈簧或氣壓缸之動態方程式。並以永磁同步伺服馬達及分激式直流馬達作為驅動器，比較馬達—機構耦合系統的操作性能。然後利用積分型變結構控制法則，設計速度控制器去處理間歇型滑塊曲柄機構的速度控制問題。最後以 Runge-Kutta 數值方法求得系統之暫態響應。

關鍵字

Hamilton 定理 ； 間歇型機構 ； 自動化機構 ； 滑塊曲柄機構 ； 變結構控制

並列摘要

This paper investigates kinematic and dynamic analyses of an intermittent slider-crank mechanism which consists of four parts: crank, pneumatic cylinder, slider and two stops at both ends of the stroke. When the crank rotates continuously, the slider contacts with the stops and the pneumatic cylinder is compressed or extended. Meanwhile, a manipulator attached at the slider can operate upward or downward. The motions of the intermittent slider-crank mechanism could be divided into three stages, and be formulated by Hamilton’s principle. In order to compare the operating performance of the motor-mechanism coupled system, the PM synchronous servomotor with the integral variable structure control (IVSC) and separately excited DC motor taken as actuators are investigated. Finally, by using Runge-Kutta method, the transient amplitudes are obtained and compared with the traditional slider-crank mechanism.

並列關鍵字

Hamilton’s principle ； Automation mechanism ； variable structure control ； slider-crank

參考文獻

[1] Jasinski, P. W., Lee, H. C. and Sandor, G. N., 1971, “Vibrations of Elastic Connecting Rod of a High-Speed Slider-Crank Mechanism,” ASME J. of Engineering for Industry, pp. 636-644.

[3] Badlani, M. and Kleinhenz, W., 1979, “Dynamic Stability of Elastic Mechanisms,” Journal of Mechanism Design, 101, pp. 149-153.

[4] Viscomi, B. V. and Arye, R. S., 1971, “Nonlinear Dynamic Response of Elastic Slider-Crank Mechanism,” ASME J. of Engineering for Industry, 93, pp. 251-262.

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[6] Lin, F. J. and Fung, R. F. and Lin, Y. S., 1997, “Adaptive Control of Slider-Crank Mechanism Motion: Simulations and Experiments,” International Journal of System Science, 28, No. 12, pp. 1227-1238.