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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/52412

    Title: 封閉迴圈機構之自由度
    Other Titles: Mobility of closed-loop mechanisms
    Authors: 蔡長青;Tsai, Chang-ching
    Contributors: 淡江大學機械與機電工程學系碩士班
    劉昭華;Liu, Chao-hwa
    Keywords: 自由度;聯式機械手臂;連結度;多餘度;度拘束;CGK公式;mobility;parallel manipulators;connectinity;redundancy;overconstraint;CGK formula
    Date: 2010
    Issue Date: 2010-09-23 17:36:46 (UTC+8)
    Abstract: Gogu最近提出計算並聯式機械手臂自由度的方法,此方法是利用線性代數的概念,所使用的結構參數包括機構連結度、多餘度、及過度拘束。
    A method to calculate degrees of freedom (mobility) of parallel manipulators has recently been suggested by Gogu. The method is based on linear algebra, and structural parameters utilized in this method include connectivity, redundancy, and overconstraint.
    In this thesis the author deals with situations of multi-fingered grasping of an object. Fingers and objects are considered as the limbs and the moving platform of a parallel manipulator, respectively. The degree of freedom is calculated by using the method suggested by Gogu. As the grasping is firm, a finger is considers as a part of the object. If relative slip occurs, then the finger is considered to be connected to the body by a planar pair. Degrees of freedom are calculated for several types of mechanical fingers, and with various numbers of slipped fingers. Comparisons to the popular CGK formula are also given in this thesis.
    Appears in Collections:[Graduate Institute & Department of Mechanical and Electro-Mechanical Engineering] Thesis

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