臺灣博碩士論文加值系統

擺線齒輪減速機由於具有高效率、低背隙以及高減速比等優點，在工業界的應用已經有一段時間。本論文的內容主要為對一種新型二階擺線減速機進行整體設計，包括建立擺線齒形設計的流程、討論不同種類之修形方法、運用齒輪原理進行運動誤差分析以及雛型的打樣。首先，藉由機構簡圖和拓樸構造說明擺線減速機的機構構造及其運作原理；接著藉由齒輪原理中的坐標轉換以及嚙合方程式求出擺線齒形的參數式；之後考慮到加工上的誤差，對擺線齒輪齒形做修形，並且藉由齒面接觸分析來得到運動誤差，再根據不同修形量的組合進行運動誤差分析，並整理出不同修形量對應的運動誤差圖表。本文最後將所設計的二階擺線減速機付之實作，以驗證機構運動的可行性。

The cycloidal drive is a compact, high-ratio, low-backlash speed reduction device, commonly used in industry for decades. This thesis studies the design of a novel two-stage cycloidal speed reducer. The mechanism and working principle of cycloid drive is explained by topological structure and kinematic diagram. The advantages of two-stage cycloidal drives over one-stage cycloidal drive are discussed. Then, the cycloidal gear profile is generated by using theory of gearing. Due to the manufacturing errors, the cycloidal gear profiles have to be modified. Types of profile modification are discussed. Kinematic error is then analyzed by using the tooth contact analysis, and the results are presented in graph, showing different combinations of the gear modification. Finally, based on the design results a prototype of two-stage cycloidal gear reducer is constructed to verify the design process.

致謝 I
摘要 II
Abstract III
目錄 IV
圖目錄 VII
表目錄 XII
符號說明 XIII
第一章 緒論 1
1.1 前言 1
1.2 文獻回顧 2
1.3 研究動機與目的 6
1.4 論文架構 7
第二章 擺線減速機之構造 8
2.1 前言 8
2.2 一階擺線減速機之構造 8
2.2.1 運作原理 8
2.2.2 減速比計算 11
2.3 二階擺線減速機之構造 11
2.3.1 運作原理 11
2.3.2 減速比計算 15
第三章 擺線齒形創成與修形 16
3.1 前言 16
3.2 擺線齒形創成 16
3.2.1 創成坐標設定與坐標轉換 16
3.2.2 嚙合方程式 19
3.3 擺線齒形修形 21
3.3.1 修形參數介紹 21
3.3.2 滾子半徑修形 22
3.3.3 滾子位置修形 24
3.3.4 滾子半徑修形、滾子位置修形之組合 26
3.4 齒面拓樸法向誤差 29
第四章 齒面接觸分析 31
4.1 前言 31
4.2 齒面接觸點計算 31
4.2.1 組裝坐標設定與參數設定 31
4.2.2 TCA方程式設定與求解 32
4.3 運動誤差 35
4.4 接觸橢圓 37
第五章 二階擺線減速機設計 43
5.1 前言 43
5.2 二階擺線減速機設計 43
5.2.1 設計目標 43
5.2.2 整體設計概念 43
5.2.3 零件尺寸設計 46
5.3 二階擺線減速機運動誤差分析 57
5.3.1 組裝坐標設定 57
5.3.2 運動誤差分析 59
5.3.3 小結 84
5.4 實體雛型製作 85
5.4.1 各零件之雛型製作 85
5.4.2 小結 88
第六章 結論與未來方向 89
6.1 結論 89
6.2 未來方向 90
參考文獻 91
附錄 94
一、方程式 94
二、各零件工程圖 107
三、零件尺度精度量測結果 114

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