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。本文提出了內縮外擺線(curtate-epicycloid)內擺動齒輪傳動（HGT）的深入參數化設計和分析。仔細設計齒形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。在載荷齒面接觸分析中，分析了齒面變形下的實際接觸率，從而驗證了有效的“自保護”特性，使HGT適用於極重載荷應用。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 computer-aided design and analysis of the Hypocycloidal Gear Transmission (HGT). Careful design of the curtate cycloid tooth profile can further enhance the performance of the HGT by dramatically improving the Hertz contact property. This high contact ratio leads to ideal load distribution. In the loaded tooth contact analysis, real contact ratio under tooth deformation was analyzed for demonstration of an effective ‘self-protecting’ feature, which made the HGT suitable for extremely heavy load applications. 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
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行星輪系.......... ..............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 專利回顧………………………………………………………………11
1.4.2 非專利回顧………………………………………………………………………………12
1.4.3 HGT的優點…………………………………………………………………………………15
1.5論文的組織……………………………………………………………………………………16
第二章HGT輪齒輪廓......................................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內縮外擺線齒形.......................................22
2.3.1外顯曲線..........................................23
2.3.2內縮的外擺線齒輪的幾何形狀..........................25
第三章 內擺動齒輪傳動的電腦輔助工程分析...................32
3.1 CAD 模型建立........................................32
3.2多體動力學分析........................................32
3.3 FEA 加載齒接觸分析...................................36

第四章結論...............................................47
4.1結論…………………………………………………………………………………………………………………………………47
4.2未來展望…………………………………………………………………………………………………………………………48

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