臺灣博碩士論文加值系統

本研究的目標是推動機電（EM）執行器技術向前發展，並通過改進對執行器性能影響最大的齒輪傳動技術使其能夠滿足日益苛刻的要求。研究提出了對線梭齒輪傳動（HGT）的深入參數化設計和分析。仔細參數化設計齒形及其齒尖可顯著改善赫茲接觸性能，並最大化接觸比率，從而進一步提高HGT的性能。這種高接觸比率導致理想的負載分配和逐漸的vii負載的拾取/釋放（將齒對齒的衝擊最小化）。在載荷齒面接觸分析中，分析了齒面變形下的實際接觸率和載荷分擔係數，從而驗證了有效的“自保護”特性，使HGT適用於極重載荷應用。最後，分析製造誤差對接觸特性的影響，以顯示HGT的誤差不敏感性。本文成功地證明了HGT是用於EM執行器的有前景的結構。在這裡這些原型HGT的設計和分析已經完整地探討。

The objective of this research is to push the Electro-Mechanical (EM) actuator technology forward and make it capable of meeting increasingly demanding requirements by improving gear transmission technology which has the most significant effects on actuator performance. The research presents in-depth parametric design and analysis of the Hypocycloidal Gear Transmission (HGT). Careful parametric design of the tooth profile and its tip relief can further enhance the performance of the HGT by dramatically improving the Hertz contact property, and maximizing the contact ratio. This high contact ratio leads to ideal load distribution and gradual pickup/release of the vii load (minimization of tooth-to-tooth impact). In the loaded tooth contact analysis, real contact ratio under tooth deformation and load sharing factor were analyzed for demonstration of an effective ‘self-protecting’ feature, which made the HGT suitable for extremely heavy load applications. Finally, effects of manufacturing errors on the contact properties were analyzed for visualization of the error-insensitiveness of the HGT. This thesis successfully proves that the HGT is a promising architecture for use in EM actuators. The design and analysis of these prototype HGTs have been fully documented here.

目錄
摘要.....................................................1
Abstract...............................................2
目錄.....................................................3
目錄.....................................................4
表目錄.................................................5
圖目錄.................................................6

第一章緒論..........................................1

1.1研究目標........................................1

1.2最先進的齒輪傳動..........................3
1.2.1 周轉輪系....................................3
1.2.2 擺線驅動....................................4
1.2.3 諧波傳動....................................6
1.3 齒輪傳動開發...................................7
1.3.1 EM的開發....................................7
1.3.2 使用HGT的EM執行器原型.........................8
1.3.3 1/4刻度的AWE執行器原型........................10
1.3.4 堅固的機器人執行器原型.........................10
1.4文獻回顧.......................................11
1.4.1 專利審查....................................11
1.4.2 非專利審查..................................12
1.4.3 HGT的優點..................................15
1.5論文的組織.....................................16
第二章HGT 牙齒輪廓.................................18
2.1介紹..........................................18
2.2基本牙齒輪廓....................................18
2.2.1橫向輪廓.....................................18
2.2.2軸向輪廓.....................................20
2.3圓弧齒輪......................................22
2.3.1應用和開發..................................23
2.3.2幾何和運動學.................................25
2.3.3干擾........................................28
2.3.4負載能力.....................................28
第三章 加載齒接觸分析...............................32
3.1介紹..........................................32
3.2分析模型.......................................32
3.3 FEA 加載齒接觸分析.............................36
3.4 FEA 加載的齒接觸模擬...........................41
3.4.1 1/4刻度AWE執行器HGT.........................41
3.4.2 堅固的執行器HGT.............................43
第四章結論........................................47
4.1結論..........................................47
4.2未來展望.......................................48

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