仿生蜂鳥飛行機構運動及誤差分析

機構典藏 > College of Engineering > Graduate Institute & Department of Mechanical and Electro-Mechanical Engineering > Thesis > Item 987654321/102631

Please use this identifier to cite or link to this item: https://tkuir.lib.tku.edu.tw/dspace/handle/987654321/102631

Title:	仿生蜂鳥飛行機構運動及誤差分析
Other Titles:	Kinematic and error analysis of a hummingbird-like micro-aerial-vehicle
Authors:	陳建凱;Chen, Chien-Kai
Contributors:	淡江大學機械與機電工程學系碩士班劉昭華
Keywords:	機構位置分析;史蒂芬生第三型六連桿機構;奇異位置;微型飛行器;Stephenson III six-bar mechanism;Singular position;Micro-aerial-vehicle
Date:	2014
Issue Date:	2015-05-04 10:00:32 (UTC+8)
Abstract:	本論文針對仿生蜂鳥飛行機構從事機構運動及誤差分析。此機構由10個桿件、13個接頭所組成，機構包含史蒂芬生第三型六連桿機構，及瓦特四連桿直線機構。本論文利用出兩種史蒂芬生第三型六連桿機構的位置分析程序，求出數值解以及封閉解。位置分析程序將使用在仿生蜂鳥微型飛行機構兩翼間之相位差分析。除此之外，本文亦進行兩翼間之速度差及加速度差分析。接著探討史蒂芬生第三型六連桿機構之奇異位置分析，發現四種奇異位置的情況，並分別探討機構在各奇異位置時的性質。 In this thesis kinematic and error analyses of a Hummingbird-like MAV are performed. The vehicle has 10 links and 13 joints, the main part of which is a Stephenson III six-bar mechanism that contains a Watt’s four-bar straight-line mechanism. A numerical procedure for position analysis of Stephenson III six-bar mechanisms is first checked against a closed-form solution, and then the numerical procedure is used to determine phase lags of the two wings. Differences in velocity and in acceleration are also determined. Finally, four types of singular positions of a Stephenson III six-bar mechanism are found, and the nature of each type of singularity is discussed.
Appears in Collections:	[Graduate Institute & Department of Mechanical and Electro-Mechanical Engineering] Thesis

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