臺灣博碩士論文加值系統

諧波齒輪傳動擁有許多優點，高減速比、體積小、輸出力矩對重量比高而且背隙量極小，這些特性使諧波減速箱被廣泛用於各精密機械傳動中。由於諧波齒輪具有撓性、磨擦力、與低結構阻尼等特性，並應用漸開線齒形設計出理想諧波齒輪齒形。
採用滾齒刀具直邊齒廓，從理論上之分析作為諧波齒輪嚙合齒形的可行性。不考慮柔輪薄殼軸向位移，將諧波齒輪組視為二維齒輪進行研究，以既有之波發生器幾何搭配具有漸開線形之柔輪、薄殼理論、微分幾何理論及齒頂干涉因素進行剛輪輪齒理論齒形計算，並應用數學運算軟體計算出諧波齒輪真實齒形藉以匯入Solid Works軟體建構三維模型，再將三維模型匯入Hyper Mesh前處理器進行有限元素模型網格劃分、材料性質設定、碰撞接觸模式選擇、速度載荷設定等，最後應用LS-DYNA顯示動力學軟體進行分析求解運算。考慮柔輪為一彈性體固定轉速、同扭矩下，研究因柔輪變形導致喇叭孔現象、邊緣接觸、柔輪扭轉變形，並應用分析軟體輔助諧波齒輪設計，可應用於縮小諧波齒輪空間及柔輪與波發生器配合公差。

Harmonic Drive has many advantages, high reduction ratio, small size, the output torque-to-weight ratio and a very small amount of backlash, these features make the harmonic gearboxes are widely used in various precision mechanical transmission. Since harmonic gear is flexible, friction, and low structural damping characteristics, and apply involute design the ideal harmonic gear tooth.
Using a straight edge hobbing cutter tooth profile, theoretically the analysis as a harmonic gear tooth is feasible. Without considering Flex spline shell axial displacement, the group considered two-dimensional harmonic gear gear research to both the wave generator with involute geometry with the flexible wheel, thin shell theory, differential geometry theory and crown interference factors were calculated just sprocket tooth theoretical and applied math software to calculate the harmonic gear real tooth in order to import the Solid Works software construct three-dimensional model, and then the three-dimensional model before importing Hyper Mesh finite element model of the processor mesh, material properties set, collision contact mode selection, speed, load settings, etc., and finally the application software LS-DYNA analysis shows dynamics solving arithmetic. Consider as an elastomeric flexible wheel fixed speed, with torque under study due to deformation resulting Flex spline speaker hole phenomenon edge contact, flexible wheel torsional deformation, and applying analytical software assisted harmonic gear design can be applied to reduce the harmonic gear space and flexible wheel and wave generator tolerances.

摘要...i
Abstract...iii
誌謝...v
表目錄...ix
圖目錄... x
符號說明...xiii
第一章 緒論...1
1.1 研究動機與目的...1
1.2 文獻探討...3
1.3 研究方法...5
第二章 諧波齒輪幾何理論...7
2.1 波發生器幾何輪廓...7
2.2 剛輪理論齒廓曲線...8
2.3 柔輪漸開線線型...10
2.4 柔輪變形...14
2.5 薄殼理論...18
第三章 諧波齒輪有限元素模型建立...23
3.1 諧波齒輪特色...23
3.2 諧波齒輪速比計算...25
3.3 波發生器有限元素模型...27
3.4 剛輪及柔輪有限元素模型...28
第四章 LS-DYNA諧波齒輪動態模擬分析...31
4.1 諧波齒輪之分析架構...32
4.2 有限元模型建立...33
4.3 網格劃分...34
4.4 元素性質的選擇...37
4.5 創建資料集合器(Collectors)...38
4.6 局部座標系設定...39
4.7 材料機械性質設定...40
4.8 拘束條件設定...42
4.9 初始條件設定...44
4.10 接觸面的定義...45
第五章 柔輪應力與變形分析...47
5.1 波發生器下柔輪應力和變形...47
5.2 波發生器安裝下柔輪變形分析...51
5.3 不同柔輪內徑波發生器安裝應力分析...54
5.4 柔輪齒部應力分析...56
5.5 柔輪扭轉變形分析...58
5.6 柔輪轉動後接觸分析...61
5.7 柔輪筒狀長度分析...65
5.8 分析總結...66
第六章 結論與未來展望...67
6.1 結論...67
6.2 未來展望...68
參考文獻...69
附錄...71

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