臺灣博碩士論文加值系統

擺線輪減速機常被使用在關節型機械手臂之傳動機構上，其特點具有傳動比大、體積小、重量輕、高效率傳動等優勢。隨著機械手臂在製造業的重要性越來越高，要求在工作時需能達到穩定且精準運作。擺線輪與針齒的嚙合傳動會因為齒輪干涉或裝配時的誤差造成碰撞，影響手臂末端的定位精準度及壽命。滾齒凸輪 (Roller Gear Cam) 減速機多應用在數控分度盤上，具備優秀的工作精度、傳動效率及幾乎零背隙等特點，因而本研究將利用模擬分析，研究滾子凸輪運用在機械手臂傳動組件的可行性。本研究利用RecurDyn模擬標準擺線及考慮修形後的齒廓之接觸應力，並與滾子凸輪機構作比較，在承受相同負載情形下的傳動性能及應力分析，結果顯示滾子凸輪接觸應力值低於擺線齒輪嚙合時的應力，其具有應用於機械手臂的可行性。

Cycloid reducer is often used in the transmission mechanism of the articulated manipulator, which has the advantages of large transmission ratio, small size, light weight, and high-efficiency transmission. With the increasing importance of robotic arms in the manufacturing industry, it is required to achieve stable and precise operation during work. The meshing transmission between the cycloidal wheel and the pin teeth will cause collisions due to gear interference or errors in assembly, which will affect the positioning accuracy of the end of the arm and the life of robotic arm. The Roller Gear Cam reducer is mostly used in the numerical control indexing plate, and has the characteristics of excellent working accuracy, transmission efficiency and almost zero backlash. Therefore, this study will apply simulation analysis to study the application of roller cams in mechanical feasibility of the arm drive assembly. This study uses RecurDyn to simulate the standard cycloid considering the contact stress of the modified tooth profile, and compares with the roller cam mechanism. The transmission performance and stress analysis under the same load condition are analyzed. The results show the contact stress value of the roller cam is lower than the stress when the cycloid gear meshes, and it has the feasibility of being applied to the robotic arm.

摘要......i
Abstract......ii
誌謝......iii
目錄......iv
表目錄......vi
圖目錄......vii
符號說明......x
第一章 緒論......1
1.1 前言......1
1.2 研究動機與目的......3
1.3 文獻回顧......4
1.4 論文架構......5
第二章 基礎理論......6
2.1 擺線輪齒廓方程[9]......6
2.2 擺線齒型修形方法......8
2.2.1 移距修形......9
2.2.2 等距修形......9
2.2.3 轉角修形......10
2.3 最佳修形量的公式推導......11
2.4 滾子凸輪機構介紹與產業應用......13
2.4.1 滾子凸輪結構特性與運動方式......13
2.4.2 滾子凸輪在產業上的應用......14
第三章 研究方法......15
3.1 擺線齒輪基本參數設計與幾何尺寸計算[11]......15
3.2 擺線齒輪模型建構......18
3.3 動態模擬軟體分析與應用......20
3.3.1 匯入模型與環境設定......21
3.3.2 接頭設定......23
3.3.3 動力輸入......24
3.3.4 負載設定......27
3.3.5 網格與接觸......29
3.3.6 材料設定......31
3.3.7 求解分析......33
第四章 研究結果......34
4.1 容許應力......34
4.2 輸出轉矩......35
4.3 應力分析......37
4.3.1 擺線齒輪-標準齒型......38
4.3.2 擺線齒輪-正移距+正等距......41
4.3.3 擺線齒輪-正移距+負等距......44
4.3.4 擺線齒輪-負移距+正等距......47
4.3.5 擺線齒輪-負移距+負等距......50
4.3.6 滾子凸輪應力分析......53
第五章 結論與未來展望......56
5.1 結論......56
5.2 未來展望......57
參考文獻......58
Extended Abstract......60

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