機動學

Mechanisms and Dynamics of Machinery

Chapter 1 Mobility

臺灣科技大學 機械工程系
石伊蓓 博士

Precision Transmission Lab.

 Planar Mechanisms vs. Spatial Mechanisms
Mechanisms can be divided into planar mechanisms and
spatial mechanisms, according to the relative motion of
the rigid bodies

Planar Mechanism
All of the relative motions of the rigid
bodies are in one plane or in parallel planes
Two dimensions http://www.youtube.com/watch?v=G21UdKMi9Us

Spatial Mechanism
If there is any relative motion that is not in
the same plane or in parallel planes
Three dimensions

http://www.youtube.com/watch?v=oqtN3Zrf9Nk
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 2.1 Degrees of Freedom (DOF) Or Mobility
The system’s DOF is equal to the number of independent
parameters that are needed to uniquely define its position
in space at any instant of time.
Plane problem: 3 DOF ( x, y, )
Spatial problem: 6 DOF ( x, y, z, , ,  )

We can not determine deformations of a body until we

define its size, shape, material properties, and loadings.
Thus, at this stage we will assume that our kinematic
bodies are rigid and massless.
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 2.2 Types of Motion
For a link (Rigid body), there are three types of motion
with regard to a reference frame:
Pure rotation
Pure rotation
Pure translation
Complex motion.

Pure translation

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 2.3 Links, Joints, and Kinematic Chains
Linkage design: Linkages are made up of links and joints.
Links is as rigid body that possesses at least two nodes
that are points for attachment to other links.

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 A kinematic Chains: An assemblage of links and joints,
interconnected in a way to provide a controlled output
motion in response to a supplied in put motion
A mechanism: A kinematic Chain in which at least one
link has been grounded, or attached, to the frame of
reference.
A machine: A combination of resistant bodies arranged to
compel the mechanical forces of nature to do work
accompanied by determinate motions.
機構
運動鏈

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 工業用的接頭 Joints

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 Six lower pairs
Lower pairs (Low stress): Joints with surface contact.

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 Lower pair joints(6 常見的低對接頭 )

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 1. Revolute Pair ( 旋轉對 )
Names DOF of kinematic pair (connectivity 連結度 ):
The number of independent coordinates needed to
Revolute hinge describe the relative positions of pairing elements
Turning pair ( 接頭的自由度： 確定兩桿件之相對位置所需之
獨立參數的數目 )
Letter symbol
R
Connectivity (DOF)
1

1 個旋轉角度

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 2. Prismatic Pair ( 滑動對 )
Names
Prismatic joint
Slider
Sliding pair
Letter symbol
P
Connectivity (DOF)
1

1 個位移

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 3. Helical Pair ( 螺旋對 )
Names
Screw joint
Helical joint
Helical pair
Letter symbol
H
Connectivity (DOF)
1

旋轉角度 (q) 和位移 (S) 成正比

只需輸入其一

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 4. Cylindrical Pair ( 圓柱對 )
Names
Cylindrical joint
Cylindrical pair
Letter symbol
C
Connectivity (DOF)
2

旋轉角度 (q) 和位移 (S) 不相關

需兩個輸入

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 5. Spherical Pair ( 球對 )
Names
Spherical joint
Ball joint
Letter symbol
S
Connectivity (DOF)
3

3 個旋轉角度

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 6. Planar Pair ( 平面對 )
Names
Planar joint
Planar
Letter symbol
PL
Connectivity (DOF)
3

2 個平面位移 +1 個旋轉角度

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 Higher pair joints(5 種常見的高對接頭 )
Higher pairs (High stress): Joints with point or line
contact.
A high pair has higher contact stress than a lower pair

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 1. Cylindrical Roller ( 圓柱滾動對 )
Names
Cylindrical roller
Rolling pair
Letter symbol
CR
Connectivity (DOF)
1
Roller rotates about this line at this instant in its
motion.
Roller does not slip on the surface on which it rolls.
( 做純滾動 )
旋轉角度 (q) 和位移 (S) 成正比
只需輸入其一

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 2. Cam Pair ( 凸輪接觸對 )
Names
Cam pair
Letter symbol
CP
Connectivity (DOF)
2

Cam rolls and slides on the follower.

又滾動又滑動

1 個位移 +1 個旋轉角度

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 3. Rolling Ball ( 球滾動對 )
Names
Rolling ball
Letter symbol
B
Connectivity (DOF)
3

Ball rolls without slipping.( 做純滾動無滑動 )

3 個旋轉角度

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 4. Ball in Cylinder
Names
Ball in cylinder
Letter symbol
BC
Connectivity (DOF)
4

Ball can rotate about axis through its center and slide
along cylinder axis.

1 個位移 +3 個旋轉角度

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 5. Spatial Point Contact ( 空間點接觸對 )
Names
Spatial point contact
Letter symbol
SP
Connectivity (DOF)
5

Body can rotate about axis through contact point and

slide in any direction in tangent plane.

2 個平面位移 +3 個旋轉角度

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 6. Gear Pair ( 齒輪對 )
Names
Gear pair
Letter symbol
GP
Connectivity (DOF)
2

1 個平移 +1 個旋轉角度 又滾動又滑動

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 Compound joints( 複合接頭 )
 In order to reduce the friction in lower pair joints, a simple
joint may be replaced by a kinematically equivalent compound
joint.

滾動對 ( 高對接頭 ) 組成旋轉

對 ( 低對接頭 )

可以降低摩擦係數 0.15 到 0.002

滾動對 ( 高對接頭 ) 組成滑行

對 ( 低對接頭 )
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 Replacement of a Higher Pair Joint with Lower Pair Joints
In order to reduce the contact stress in higher pair joints, a joint
may be replaced by some kinematically equivalent lower pair
joints.
For instance, a pin-in-a-slot joint( 銷槽接頭 ) may become a
combination of a revolute joint and a prismatic joint, it’s
connectivity is 2. n  3, J  2
j
n  2, J  1 f
i 1
i 2
j

f
i 1
i 2

兩者功能相同

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 Various rolling-element and plain bearings
產業用的接頭通常會用軸承以降低摩擦力
以提高產品效率

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 2.4 Drawing Kinematic Diagrams
機構簡圖用來表示機構支組成，包含：
機件 (Link) 類型
接頭 (Join) 類型
機件與接頭間的連接關係
繪製機構簡圖三大原則：簡要、正確和美觀

Cam Joint
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 機件簡圖

接頭簡圖

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 Representation of Links
(a) Binary links ( 二接頭連桿 )
those that have two joints mounted on them
(b) Ternary links ( 三接頭連桿 )
 those that have three joints mounted on them
(c) Quaternary links ( 四接頭連桿 )
 those that have four joints mounted on them

四或四接頭以上需圖色或畫固連記號

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 Kinematic Diagram

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 Skeleton of Suspension 機構簡圖
分析機構的拓樸構造與運動狀態，常以簡圖來說明機
件間的鄰接關係與相對位置，簡化實體的複雜性
Example: Honda Pro-Link 單槍懸吊系統 ( 避震器 )

1 5

6 Wheel

2 2. 機構簡圖 3. 運動鏈
4 Stephenson Chain 史帝芬森型
1. 實體
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 Visualization of the Motion of Linkages
Model with woods, paper cards, LEGOS and so on

Model with computer simulation

SolidWorks CosmosMotion 3D
SAM, Working Model 2D or ADMAS
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 2.5 Determining Degree of Freedom Or
Mobility
Mobility (Degrees of freedom)
The number of inputs that need to be provided in order to create a
predictable output.
The minimum number of coordinates needed to specify the positions
of all members of the mechanism ( 確定機構各桿件之相對位置所需
之獨立參數的數目 )

連結度 (Connectivity) ：接頭之自由度

可動度 (Mobility) ：連桿組或機構之自由度

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 Degree of Freedom of a Linkage in Plane
The DOF of a body is the number of independent
coordinates needed to specify its position
 A body moving freely in a plane has three degrees of
freedom (dofs). 2 translation + 1 rotation
 一無拘束平面機件
有三個自由度 : 2 個平移 1 個旋轉

X
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 Constraint Criterion 2D
Calculate the mobility of planar mechanisms ( 平面機構
自由度 )
Gruebler’s equation (1883, 古魯伯公式 )
1. 每一無拘束的平面連桿有 3 個自由度 (2 位移 +1 旋 3n
轉 ) 3
2. 連桿組必須有一桿為固定桿，因此自由度減
3. 每多一接頭 ( 其連結度 fi ) ，自由度將減少 (3-fi)
n: number of links
M  3(n  1)  2 J1  1J 2
j: number of joint
fi: Connectivity
2 個位移 +1 旋轉
M  3  (2  1)  2  f1
M  23 1 旋轉
1

2 個位移 +1 旋轉
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 2.6 Mechanisms and Structures
If the DOF is positive, it will be a mechanism.
If the DOF is zero, it will be a structure.
If the DOF is negative, it will be a preload structure.

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 Example 1.1 Planar four-bar linkages
The linkage is planar and all joints have connectivity one.
總連桿數 n  4
總接頭數 j  4
接頭分類 J1  4, J 2  0
可動度 (Mobility) M  3(n  1)  2 J1  1J 2
 3(4  1)  2  4  1 0  1
1. 標示連桿編號
2. 標示接頭自由度
1 1 3. 數接頭個數

1 連結度 ( 接頭自由度 ) 為 1

1 1

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 Example 1.2 Two loop planar linkages
The linkage is planar and all joints have connectivity one.
總連桿數 n  7
總接頭數 j  8
接頭分類 J1  8, J 2  0
可動度 (Mobility) M  3(7  1)  2  8  2

1
1

1 1
1
1 連結度為 1

1 1
1

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 Example 1.3 Planar linkage with multiple joint
The linkage is planar and all joints have connectivity one.
And links 3, 4, and 5 are connected at the same revolute
joint.
總連桿數 n6 Mobility = GueblerEQ(3,6,[7])
總接頭數 j7
接頭分類 J1  7, J 2  0
可動度 (Mobility) M  3(6  1)  2  7  1 視為 2 個接頭

1 連結度為 1 1
2
1 1

1 1
1

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 Example 1.4 Planar linkage with various types of joints
The linkage is planar and not all of the joints have
connectivity one.
總連桿數 n  11
j  14
總接頭數
接頭分類 J1  13, J 2  1
可動度 (Mobility) M  3(11  1)  2  13  1 1  3

1 連結度為 1
2 連結度為 2 1 2

3 2 1
1 1 1

1
2
1 1 1
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 Example 1
總連桿數 n6
總接頭數 j7

接頭分類 J1  7
可動度 (Mobility) M  3(6  1)  2  7  1

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 Example 2
總連桿數 n4
總接頭數 j4
同一件
接頭分類 J1  4
可動度 (Mobility) M  3(4  1)  2  4  1

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 Example 3
總連桿數 n5
總接頭數 j6

接頭分類 J1  5, J 2  1
可動度 (Mobility)

M  3(5  1)  2  5  11  1

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 Example 4
總連桿數 n6
總接頭數 j7
接頭分類 J1  7, J 2  0
可動度 (Mobility) M  3(6  1)  2  7  1

摩托車後懸吊機構
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 Example 5
總連桿數 n8
總接頭數 j  10

接頭分類 J1  10, J 2  0
可動度 (Mobility)

M  3(8  1)  2 10  1

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 Example 6
總連桿數 n9
總接頭數 j  12

接頭分類 J1  11, J 2  1
可動度 (Mobility)

M  3(9  1)  2  11  1 1  1

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 Example 7
總連桿數 n8
總接頭數 j  10

接頭分類 J1  10, J 2  0
可動度 (Mobility)

M  3(8  1)  2  10  1

飛機前起落架收放機構
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 Example 8
總連桿數 n  10
總接頭數 j  12

接頭分類 J1  12, J 2  0
可動度 (Mobility)

M  3(10  1)  2  12  3

挖土機機構

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 Example 9
總連桿數 n3
總接頭數 j 3

接頭分類 J1  2, J 2  1
可動度 (Mobility)

M  3(3  1)  2  2  1 1  1

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 Example 10
總連桿數 n  5
總接頭數 j7
接頭分類 J1  4, J 2  3
可動度 (Mobility) M  3(5  1)  2  4  1 3  1

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 Constraint Analysis of Spatial Linkages
Constraint criterion equation
Kutzbach criterion ( 庫茲貝克法則 )
Calculate the mobility of spatial linkages
每一無拘束的空間連桿有 6 自由度 (3 位移 +3 旋轉 )6n
機構必須有一桿為固定桿，因此總自由度必須減掉 6
每多一接頭 ( 其連結度 fi ) ，總自由度將減少 (6-fi)

M  6(n  1)  5 J1  4 J 2  3J 3  2 J 4  1J 5

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 Spatial Position

( x, y , z )

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 Example 1.5 D. O. F. in a Spatial Mechanism
The linkage is a spatial mechanism.
總連桿數 n4
總接頭數 j4
接頭分類 J1  1, J 2  1, J 3  2, J 4  0, J 5  0
可動度 M  6(4  1)  5  1  4  1  3  2  2  0  1 0  3

3 1

1 連結度為 1
3 2 連結度為 2
2 3 連結度為 3

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 Example 2 A Robotic Manipulator
Case 1 控制六軸使得機械手臂到達某一定點
總連桿數 n  7
總接頭數 j  6
接頭分類 J1  6
可動度

M  6(7  1)  5  6  6 5 個旋轉接頭 12456

1 個平行接頭 3
機件
接頭

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 Example 1 Spatial Mechanism
總連桿數 n  6
總接頭數 j  7
接頭分類 J1  3, J 3  4
可動度

M  6(6  1)  5  3  3  4  3

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 Determine the mobility and the number of idle degrees of
freedom of the spatial linkages shown below.
Example 1 Example 2 Example 3

n5 n5 n8

j3  3, j2  2, j1  1 j3  3, j2  1, j1  1 j3  6, j2  2, j1  2
M 2 M 6 M 6
Idle DOF  2 Idle DOF  2 Idle DOF  1
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 2.8 Paradoxical Mechanism ( 矛盾機構 )
矛盾機構 - 自由度小於 1 為結構，但有些機構因其特殊連桿長度和幾何關係雖
然自由度小於 1 卻仍具有拘束運動
A spatial 4R linkage is, in general, immovable because M=-2. However, it may have
mobility one if special geometry are met.
Two well-know paradoxical mechanisms:
Spherical four-bar mechanism (The axes of revolute joints all pass through a single point)
Bennett mechanism (1903)
M  6(4  1)  5  4
M  3(5  1)  2  6  0  18  20  2
a sin   b sin 

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 Linkages with Mobility of One
Assume all joints having connectivity one
Moreover, if the mobility of planar linkages is set to one,
the constraint criterion equation leads to
M  3(n  1)  2  J1  1  3n  2 J1  4 機件數目 n 必為偶數

Some of the possible solution are listed as followings

構型數目

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 2.9 Isomer( 異構體 )
二連桿只有一種構型
R 指旋轉對
P 指滑行對

四連桿只有一種構型但因接頭不同又分為四個樣式

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 自由度 1 的六連桿有兩種構型 Rear suspension for
motorcycles
Watt Chain 瓦特型
Stephenson Chain 史帝芬森型

當四連桿機構不克滿足應用需求時，或須有
較大的彈性以便與其它連桿或機件相配合時，
較經濟的選擇就是使用六連桿機構
要 2 個回路 Kawasaki Uni-Trak Honda Pro-Link
Watt Chain Stephenson Chain

3n  2 j  4
n  6

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 自由度 1 的八連桿有 16 種構型

3n  2 j  4
n  8

 j  10

要 3 個回路

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 Idle Degrees of Freedom ( 多餘的自由度 )
An idle DOF is one that does not affect the input-output
relationship of the linkage.
For example: Steering mechanism of automobiles
There is a unique value of the output joint angle (f) for
any given value of the input angle (q)
可動度 2 理應有兩個輸入，才可得一
確定的機構運動
3 然而此機構實既上 w 不會影響輸出 f
 j
M  6(n  j  1)   f i  6(4  4  1)  8  2
3

i 1



1
1
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 Stewart platform mechanism( 史都華平台 )
Procedures for Locating the Idle dof are as following
Identify the input link and output link.
Check to determine if a single link or a combination of
connected links can move without altering the relative
position of the input and output links. If the answer is
positive, there are some idle dof’s.
若滑行對改為圓柱對自由度
每一隻腳有 1 個球面對和 1 個滑行對接頭 為何 ? 有幾個 idle dofs?
球對 Indeed, this mechanism has six idle dofs
because each limb is free to spin about the
滑行對 line joining the centers of its spherical
joints.
idle dof 3
M  6(n  1)  5 J1  3 J 3
1  6(14  1)  5  6  3 12  12
3
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 Planar Mechanism with an Idle Degrees of Freedom
Cam roller followers are involved.
The extra degree of freedom does not affect the input-output
(link 6 vs. link 2) relationship of the linkage. So, the extra dof
is idle.
為什麼是滑行對
C 什麼運動對 ? 而不是圓柱對 ?
1 or 2 1
1
C is a cam pair (fi=2)
M  3(n  1)  2 J1  1J 2
1
 3(6  1)  2  6  1 1  2
1
1

滾輪 B 的旋轉是多餘 !!

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 Number of Closures
Number of closures c  j  n 1
由回路數可決定位置獨立方程式的數目
平面機構 (X,Y) q  3c
空間機構 (X,Y,Z)q  6c

Mobility of the linkage

1. 平面機構
j j
M  3(n  j  1)   f i   f i  3c
i 1 i 1
2. 空間機構
j j
M  6(n  j  1)   f i   f i  6c
i 1 i 1
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 2.12 Inversion ( 倒置 )
An inversion is created by grounding a different link in the
kinematic chain.
機構之倒置並不改變機件間之相對運動，但會改變其絕對運
動

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 Inversion of a Pin-in-a-Slot Linkage

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 1.15 The Grashof Condition
葛拉索準則是針對四連桿之長度關係判斷其運轉情形
判斷是否有一桿可做旋轉以馬達做輸入
Coupler
Link Length
s: the shortest link
Side Link
l: the longest link Side Link

p, q: the other two links

Frame
Grashof Type Condition Shortest link Mechanism
For the Class 1 case s+l<p+q Side link( 側桿 ) Crank-rocker
至少有一桿 Coupler( 耦合 Double-rocker, 第一類雙搖桿
能做 360 度的旋轉 桿)
Frame( 機架 ) Double- Crank
For the Class II case s+lp+q Any link Triple-rocker
無任何桿件 Or type 2 double-rocker, 第二類雙搖
可做 360 度的旋轉 桿
For the Class III case s+l=p+q Any link Change-point
至少有一桿 Grashof neutral linkage
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 Rocker
Crank

曲柄 (Crank)
相對於固定桿作旋轉之側桿稱為曲柄
搖桿 (Rocker)
相對於固定桿作擺動之側桿稱為搖桿
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 葛拉索第一類 ( 或稱葛氏機構 )s  l  p  q
1.Crank-rocker mechanism 曲柄搖桿機構
Coupler
較短的側桿旋轉，另一側桿擺動
2.Double-crank mechanism 雙曲柄機構 Side Link
Side Link

兩側連桿均作完整迴轉時
Frame
3.Double-rocker mechanism 雙搖桿機構
sl  pq
兩側連桿均為擺動狀態時

1.The shortest link is the side link

葛拉索第一類
至少有一桿能做 360 度的旋轉

3.The shortest link is the coupler

2.The shortest link is the frame

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 s+l<p+q, Inversion

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 葛拉索第二類 ( 或稱非葛氏機構 ) sl  pq

Triple-Rocker(or Type 2 double-rocker ) linkage

The coupler of a triple-rocker linkage are oscillating

耦合桿只做搖擺不旋轉
sl  pq
1.0
1.0  4.0  1.5  2.5 2.5
1.5

4.0

葛拉索第二類 Please visit

無任何桿件可做 360 度的旋轉 http://www.mekanizmalar.com/fourbar01.html

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 s+l>p+q, Inversion

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 Grashof Neutral Linkage
Grashof neutral linkage (or Change point linkage)( 不確
定)
It leads to unpredictable behavior and possibly large loads
在某種特定位置，桿件運動有多種可能，可能造成
無預期的桿件或接頭受大力量因而造成損壞
on the links and joints.

sl  pq
變點機構為葛氏機構的特殊情形
1.0  3.0  1.5  2.5  4

(a) 平行四邊形連桿組
(b) 反平行四邊形連桿組
(c) 箏形連桿組或等腰雙曲柄連桿組

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 Crank-Rocker Subtype of Grashof Type One Linkage
s+l<p+q The shortest link is the side link

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 Double-Rocker Subtype of Grashof Type One Linkage
s+l<p+q The shortest link is the連接桿
coupler(coupler) 旋轉一圈

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 Double-Crank Subtype of Grashof Type One Linkage
s+l<p+q The shortest link is the frame

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 Change-Point of Grashof Neutral Linkage
s+l=p+q

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79 Please visit @ 石伊蓓 /NTUST ME/09/17/2022
http://www.mekanizmalar.com/transport01.html
 1
1

1
1

1 1

1 1

j
M  3( n  j  1)   fi
i 1
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 3(8  10  1)  10  1  1
81 @ 石伊蓓 /NTUST ME/09/17/2022
82 Please visit @ 石伊蓓 /NTUST ME/09/17/2022
http://www.mekanizmalar.com/theo_jansen.html
 2 1

2 1
4 1
3 1 2 1
1
3 1

2 1 2 1
3 1 3 1

1 j
M  3(n  j  1)   f i
1
2 i 1
1
 3(22  31  1)  31 1  1

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84 Please visit @ 石伊蓓 /NTUST ME/09/17/2022
http://www.mekanizmalar.com/joules.html
 j
M  3(n  j  1)   f i
i 1
1
 3(11  14  1)  14  1  2
2 1 1

1 1
1

3 1 1
1

85 @ 石伊蓓 /NTUST ME/09/17/2022