臺灣博碩士論文加值系統

高精密諧波減速機構由撓性輪、剛性輪與波產生器所構成，利用撓性輪的變形以及極小的齒數差作傳動，其具有傳動比大、重量輕、體積小、傳動效率高等特點，廣泛應用在工業機器人關節、航太工業、醫療器械等精密傳動的領域。本研究之主要目的在於利用具創新連續函數之齒條刀創成出新型諧波減速機齒形，並利用有限元素分析法及田口法找出最佳齒形參數組合。首先利用座標轉換方法建立撓性輪齒形之數學模型，再利用撓性輪之數學模型推導出剛性輪之數學模型。接著，利用Abaqus做有限元素分析，由柔輪非線性彈性變形和摩擦共同產生遲滯現象，繪出遲滯曲線，由此分析出影響傳動性能之剛性、遲滯以及背隙等特性。最後利用實驗設計法針對齒高係數、齒厚係數以及齒間隙等齒形參數進行最佳化，得到剛性最大及結構應力最小之最佳的齒形設計參數。

The high precision harmonic drive mechanism is composed of a flexible wheel, a rigid wheel and a wave generator. It uses the deformation of the flexible wheel and a small difference in the number of teeth for transmission. It has the characteristics of large transmission ratio, lightweight, small volume and high transmission efficiency, widely used in industrial robot joints, aerospace industry, medical equipment and other fields of precision transmission. The main purpose of this research is to use a rack cutter with innovation continuous function to create a new type of harmonic reducer tooth profile and to find the best combination of tooth profile parameters by using finite element analysis method and the Taguchi Method. Firstly, the mathematical model of the flexible gear tooth profile is established by the coordinate transformation method, and then the mathematical model of the rigid gear is derived by using the mathematical model of the flexible gear. Then, using Abaqus to do finite element analysis, the hysteresis phenomenon is generated by the nonlinear elastic deformation and friction of the compliant wheel, and the hysteresis curve is drawn, thereby analyzing the rigidity, hysteresis and backlash that affect the transmission performance. Finally, the experimental design method is utilized to optimize the tooth profile parameters such as tooth height coefficient, tooth thickness coefficient and tooth clearance, and obtain the optimal tooth profile design parameters with the largest rigidity and the smallest contact stress.

摘要...i
Abstract...ii
誌謝...iii
目錄...iv
表目錄...vi
圖目錄...vii
符號說明...ix
第一章 緒論...1
1.1 研究背景與目的...1
1.2 文獻回顧...2
1.3 研究方法...3
1.4 論文架構...4
第二章 遲滯曲線...5
2.1 遲滯現象...5
第三章 新型齒形設計...7
3.1 速比...7
3.2 新型齒形...8
3.3 嚙合方程式...10
3.4 齒形參數...12
3.4.1 齒高係數...12
3.4.2 齒厚係數...12
3.4.3 齒間隙...13
第四章 有限元素分析...14
4.1 齒形參數設計...14
4.2 分析條件設定...15
4.3 結果分析...18
4.4 最佳化...29
4.4.1 剛性最佳化...29
4.4.2 剛性最佳化結果...30
4.4.3 結構應力最佳化...30
4.4.4 結構應力最佳化結果...31
4.4.5 灰關聯分析...32
第五章 結論與建議...35
5.1 結論...35
5.2 建議...35
參考文獻...36
Extended Abstract...39

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