臺灣博碩士論文加值系統

近年來，世界工業生產大國(中國、美國、日本)等，皆因人工薪資逐年上漲及需要維持產品的生產品質，我國產業也面臨同樣的挑戰。許多企業開始積極尋求利用工業機器人以取代人力，進而帶動國內工業機器人產業蓬勃發展。減速機構為機械人關節不可或缺的裝置，其可將馬達輸出端轉速降低及扭力增大。
本論文將介紹偏心凸輪式減速機構之合成方式，進行機構運動與動力分析，針對其合成參數與應用需求建立一套分合成與分析方法，提升開發可應用於多軸機器人關節手臂中新型減速機構之完整性，使其具有高減速比、可靠、高強度、高剛性、低背隙及耐用等特徵，可提供工業機器人產業更多樣性的選擇。

In recent years, the main producers in the world (China, USA, Japan, etc.) have balanced the wage-claims and the good quality control for products. The industry in Taiwan has faced the same challenges. Recently, the producers of domestic industrial robots have flourished since many companies actively began to find the way to replace the workers by industrial robots. Reducers are commonly used in the robot joints to reduce the speed and increase the torque of motors.
In this thesis, the synthesis procedure of the reducer and the analysis results of the kinematic and dynamic characteristics based on the design parameters are described. To illustrate the application of the procedure, a series of examples is given. It is expected that the techniques of the reducers can be used for makers of industrial robots.

論文審定書 i
誌謝 ii
摘要 iv
ABSTRAT v
目錄 vi
圖次 vii
表次 ix
第一章 緒論 1
1.1前言 1
1.2文獻回顧 3
1.3研究目的與研究方法 3
1.4論文大綱 4
第二章 機構合成 5
2.1 偏心凸輪式減速機構介紹 5
2.1.1 機構速比計算及應用 6
2.1.2 機構結構配置 11
2.2 凸輪外廓之合成 16
2.2.1 剛體轉置法介紹 16
2.2.2 偏心凸輪式減速機構之合成 18
第三章 運動與動力分析 21
3.1 凸輪外廓曲率半徑求取 21
3.2 壓力角求取 23
3.3 機構扭力傳遞關係與凸輪滾子承受負荷求取 24
3.4 接觸應力求取 33
3.5 設計範例與分析 34
第四章 設計參數對幾何與運動特徵之影響 38
4.1 機構速比固定 38
4.2 機構速比變動 44
4.3 機構尺寸固定 54
4.4 滾子半徑變動 61
第五章 結論 70
參考文獻 71
附錄A 73
附錄B 74

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