藉著『連杆機構』
Linkage (mechanical)
A mechanical linkage is an assembly of bodies connected to manage forces and movement. The movement of a body, or link, is studied using geometry so the link is considered to be rigid.[1] The connections between links are modeled as providing ideal movement, pure rotation or sliding for example, and are called joints. A linkage modeled as a network of rigid links and ideal joints is called a kinematic chain.
Linkages may be constructed from open chains, closed chains, or a combination of open and closed chains. Each link in a chain is connected by a joint to one or more other links. Thus, a kinematic chain can be modeled as a graph in which the links are paths and the joints are vertices, which is called a linkage graph.
The deployable mirror linkage is constructed from a series of rhombus or scissor linkages.
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Analysis and synthesis of linkages
The primary mathematical tool for the analysis of a linkage is known as the kinematics equations of the system. This is a sequence of rigid body transformation along a serial chain within the linkage that locates a floating link relative to the ground frame. Each serial chain within the linkage that connects this floating link to ground provides a set of equations that must be satisfied by the configuration parameters of the system. The result is a set of non-linear equations that define the configuration parameters of the system for a set of values for the input parameters.
Freudenstein introduced a method to use these equations for the design of a planar four-bar linkage to achieve a specified relation between the input parameters and the configuration of the linkage. Another approach to planar four-bar linkage design was introduced by L. Burmester, and is called Burmester theory.
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之『關節』 joint 概念，加上注意
牛頓第三運動定律
牛頓第三定律（Newton’s third law），在古典力學裏闡明，當兩個物體交互作用時，彼此施加於對方的力，其大小相等、方向相反。[1]:88f力必會成雙結對地出現：其中一道力稱為「作用力」；而另一道力則稱為「反作用力」（拉丁語 actio 與 reactio 的翻譯），又稱「抗力」；兩道力的大小相等、方向相反。它們之間的分辨，是純然任意的；任何一道力都可以被認為是作用力，而其對應的力自然地成為伴隨的反作用力。這成對的作用力與反作用力稱為「配對力」。牛頓第三定律又稱為「作用與反作用定律」，在本文內簡稱為「第三定律」。
第三定律以方程式表達為
；
其中，
是物體B施加於物體A的力，
是物體A施加於物體B的力。
的提點，或可通覽
筆記也。
不過那樣足夠了解，所謂『簡單器械』嗎？？
Simple machine
A simple machine is a mechanical device that changes the direction or magnitude of a force.[2] In general, they can be defined as the simplest mechanisms that use mechanical advantage (also called leverage) to multiply force.[3] Usually the term refers to the six classical simple machines which were defined by Renaissance scientists:[4]
A simple machine uses a single applied force to do work against a single load force. Ignoring friction losses, the work done on the load is equal to the work done by the applied force. The machine can increase the amount of the output force, at the cost of a proportional decrease in the distance moved by the load. The ratio of the output to the applied force is called the mechanical advantage.
Simple machines can be regarded as the elementary “building blocks” of which all more complicated machines (sometimes called “compound machines”[5][6]) are composed.[3][7] For example, wheels, levers, and pulleys are all used in the mechanism of a bicycle.[8][9] The mechanical advantage of a compound machine is just the product of the mechanical advantages of the simple machines of which it is composed.
Although they continue to be of great importance in mechanics and applied science, modern mechanics has moved beyond the view of the simple machines as the ultimate building blocks of which all machines are composed, which arose in the Renaissance as a neoclassical amplification of ancient Greek texts. The great variety and sophistication of modern machine linkages, which arose during the Industrial Revolution, is inadequately described by these six simple categories. Various post-Renaissance authors have compiled expanded lists of “simple machines”, often using terms like basic machines,[8] compound machines,[5] or machine elements to distinguish them from the classical simple machines above. By the late 1800s, Franz Reuleaux[10] had identified hundreds of machine elements, calling them simple machines.[11] Modern machine theory analyzes machines as kinematic chains composed of elementary linkages called kinematic pairs.
Table of simple mechanisms, fromChambers’ Cyclopædia, 1728.[1] Simple machines provide a vocabulary for understanding more complex machines.
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History
The idea of a simple machine originated with the Greek philosopher Archimedes around the 3rd century BC, who studied the Archimedean simple machines: lever, pulley, and screw.[3][12] He discovered the principle of mechanical advantage in the lever.[13]Archimedes’ famous remark with regard to the lever: “Give me a place to stand on, and I will move the Earth.” (Greek: δῶς μοι πᾶ στῶ καὶ τὰν γᾶν κινάσω)[14] expresses his realization that there was no limit to the amount of force amplification that could be achieved by using mechanical advantage. Later Greek philosophers defined the classic five simple machines (excluding the inclined plane) and were able to roughly calculate their mechanical advantage.[6] For example, Heron of Alexandria (ca. 10–75 AD) in his workMechanics lists five mechanisms that can “set a load in motion”; lever, windlass, pulley, wedge, and screw,[12] and describes their fabrication and uses.[15] However the Greeks’ understanding was limited to the statics of simple machines (the balance of forces), and did not include dynamics, the tradeoff between force and distance, or the concept of work.
During the Renaissance the dynamics of the Mechanical Powers, as the simple machines were called, began to be studied from the standpoint of how far they could lift a load, in addition to the force they could apply, leading eventually to the new concept of mechanical work. In 1586 Flemish engineer Simon Stevin derived the mechanical advantage of the inclined plane, and it was included with the other simple machines. The complete dynamic theory of simple machines was worked out by Italian scientist Galileo Galilei in 1600 in Le Meccaniche (On Mechanics), in which he showed the underlying mathematical similarity of the machines as force amplifiers.[16][17] He was the first to explain that simple machines do not create energy, only transform it.[16]
The classic rules of sliding friction in machines were discovered by Leonardo da Vinci (1452–1519), but were unpublished and merely documented in his notebooks, and were based on pre-Newtonian science such as believing friction was an ethereal fluid. They were rediscovered by Guillaume Amontons (1699) and were further developed by Charles-Augustin de Coulomb (1785).[18]
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Modern machine theory
Kinematic chains
Simple machines are elementary examples of kinematic chains that are used to model mechanical systems ranging from the steam engine to robot manipulators. The bearings that form the fulcrum of a lever and that allow the wheel and axle and pulleys to rotate are examples of a kinematic pair called a hinged joint. Similarly, the flat surface of an inclined plane and wedge are examples of the kinematic pair called a sliding joint. The screw is usually identified as its own kinematic pair called a helical joint.
Two levers, or cranks, are combined into a planar four-bar linkage by attaching a link that connects the output of one crank to the input of another. Additional links can be attached to form a six-bar linkage or in series to form a robot.[23]
Classification of machines
The identification of simple machines arises from a desire for a systematic method to invent new machines. Therefore, an important concern is how simple machines are combined to make more complex machines. One approach is to attach simple machines in series to obtain compound machines.
However, a more successful strategy was identified by Franz Reuleaux, who collected and studied over 800 elementary machines. He realized that a lever, pulley, and wheel and axle are in essence the same device: a body rotating about a hinge. Similarly, an inclined plane, wedge, and screw are a block sliding on a flat surface.[31]
This realization shows that it is the joints, or the connections that provide movement, that are the primary elements of a machine. Starting with four types of joints, the revolute joint, sliding joint, cam joint and gear joint, and related connections such as cables and belts, it is possible to understand a machine as an assembly of solid parts that connect these joints.[23]
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Revolute joint
A revolute joint (also called pin joint or hinge joint) is a one-degree-of-freedom kinematic pair used in mechanisms.[1] Revolute joints provide single-axis rotation function used in many places such as door hinges, folding mechanisms, and other uni-axial rotation devices.[2] (They do not allow translation, or sliding linear motion, a constraint not shown in the diagram.)
Cutaway view
Prismatic joint
A prismatic joint provides a linear sliding movement between two bodies, and is often called a slider, as in the slider-crank linkage. A prismatic joint can be formed with a polygonal cross-section to resist rotation. See for example the dovetail joint and linear bearings.
The relative position of two bodies connected by a prismatic joint is defined by the amount of linear slide of one relative to the other one. This one parameter movement identifies this joint as a one degree of freedom kinematic pair.[1]
Prismatic joints provide single-axis sliding often found in hydraulic and pneumatic cylinders.[2]
Prismatic joint seen in 2-dimensional form, noting that the joint may only move in one direction. Bottom shows a sample piston cylinder cutout which utilizes a prismatic joint.
Cam
A cam is a rotating or sliding piece in a mechanical linkage used especially in transforming rotary motion into linear motion.[1][2] It is often a part of a rotating wheel (e.g. an eccentric wheel) or shaft (e.g. a cylinder with an irregular shape) that strikes a lever at one or more points on its circular path. The cam can be a simple tooth, as is used to deliver pulses of power to a steam hammer, for example, or an eccentric disc or other shape that produces a smooth reciprocating (back and forth) motion in the follower, which is a lever making contact with the cam.
Fig. 1 Animation showing rotating cams and cam followers producing reciprocating motion.
Gear train
A gear train is a mechanical system formed by mounting gears on a frame so the teeth of the gears engage.
Gear teeth are designed to ensure the pitch circles of engaging gears roll on each other without slipping, providing a smooth transmission of rotation from one gear to the next.[1]
The transmission of rotation between contacting toothed wheels can be traced back to the Antikythera mechanism of Greece and the south-pointing chariot of China. Illustrations by the Renaissance scientist Georgius Agricola show gear trains with cylindrical teeth. The implementation of the involute tooth yielded a standard gear design that provides a constant speed ratio.
Features of gears and gear trains include:
- The ratio of the pitch circles of mating gears defines the speed ratio and the mechanical advantage of the gear set.
- A planetary gear train provides high gear reduction in a compact package.
- It is possible to design gear teeth for gears that are non-circular, yet still transmit torque smoothly.
- The speed ratios of chain and belt drives are computed in the same way as gear ratios. See bicycle gearing.
Illustration from Army Service Corps Training on Mechanical Transport, (1911), Fig. 112 Transmission of motion and force by gear wheels, compound train.
就像不知什麼是機械元件語言，真能明白機器時代之精神嘛！！
第一次工業革命
工業革命（英語：Industrial Revolution），又稱產業革命，更準確的說是第一次工業革命，一個起點約於1760年代，一直持續到1830年代至1840年代的歷史時期。在這段時間裡，人類生產逐漸轉向新的製造過程，出現了以機器取代人力、獸力的趨勢，以大規模的工廠生產取代個體工場手工生產的一場生產與科技革命。由於機器的發明及運用成為了這個時代的標誌，因此歷史學家稱這個時代為機器時代（the Age of Machines）。馬克思主義史家將它視為資本主義工業化的早期歷程，即資本主義生產完成了從工坊手工業向機器工業過渡的階段。
工業革命在1759年左右已經開始，但直到1830年，它還沒有真正蓬勃地展開。大多數觀點認為，工業革命發源於英格蘭中部地區 。1769年，英國人瓦特改良蒸汽機之後，由一系列技術革命引起了從手工勞動向動力機器生產轉變的重大飛躍。隨後自英格蘭擴散到整個歐洲大陸，19世紀傳播到北美地區。一般認為，蒸汽機、煤、鐵和鋼是促成工業革命技術加速發展的四項主要因素。英國為最早開始工業革命也是最早結束工業革命的國家。
在瓦特改良蒸汽機之前，整個生產所需動力依靠人力，畜力，水力和風力。伴隨蒸汽機的發明和改進，工廠不再依河或溪流而建 ，很多以前依賴人力與手工完成的工作，自蒸汽機發明後被機械化生產取代。工業革命是一般政治革命不可比擬的巨大變革，與10000年前農業革命一般，革命其影響涉及人類社會生活的各個方面，使社會發生了巨大的變革，對人類的現代化進程推動起到不可替代的作用，把人們推向了一個嶄新的「蒸汽時代」。