三桿與五桿型仿生水母縮放推進機構之構造合成

On the Structural Synthesis of Jet Propulsion Mechanisms for Bionic Jellyfishes with 3 and 5 Links

本文之目的在於進行仿生水母縮放推進機構之構造合成，依據創意性設計方法，以合成出三桿與五桿的新型機構目錄。首先，依據水母之運動特性歸納出設計需求與限制。接著，進行數目合成，以找出符合單自由度之三桿與五桿運動鏈。然後，進行特殊化以產生合乎設計需求與限制的特殊化運動鏈。因為三桿機構不易由平面機構衍生成空間機構，所以針對輸出桿與連桿鄰接的接頭，進行分類與選用，以獲得可行之接頭種類。最後，進行具體化，以產生新型機構目錄。除此之外，並依據機構目錄及水母運動特性，進行尺寸合成，並透過ADAMS軟體進行運動模擬，加以驗證。

The purpose of this paper is to synthesize the structure of 3-link and 5-link jet propulsion mechanisms for bionic jellyfishes based on the creative mechanism design. First, the design requirements and design constraints are specified based on the kinematics characteristic of jellyfishes. Then, the joint assortments with respect to the (3, 3), (5, 6) and (5, 7) chains are derived by number synthesis, and the atlas of feasible chains with one degree of freedom is generated. After that, the atlas of specialized feasible chains is obtained. In order to obtain spatial structures for the mechanisms with 3-link easily, the joints incident to the input and the output links are classified by their motion characteristics, and then the feasible joints are selected. Finally, new designs are obtained through the particularization process. In addition, two examples are illustrated to verify the feasibility of new designs by performing kinematic simulation using ADAMS software.