一種新型波動減速機之設計與研究

Abstract

波動減速機為一具自鎖功能之精密型減速機，可為機器提供大扭矩的驅動，且避免傳動過程中非預期之逆轉。然而波動減速機之製造精度要求高，若輪廓設計不符合作動需求或加工精度不夠，將會影響整體性能，如傳遞誤差與背隙。本研究主要針對波動減速機之齒型進行設計，藉由齒輪原理求得其構造的輪廓，再利用齒面接觸分析計算具修形之波動減速機的傳遞誤差與背隙，以及討論各製造誤差對傳遞誤差與背隙的靈敏度。最後，本文亦分析其靜態受力分布與接觸路徑之關係，估算其能量損耗與能量效率。

The wave speed reducer is a device that can be used for the transmission of motion and torque for machinery with self-lock capability when back-driven torque occurs. This thesis studied the design of the device. The profile generation is established by using the theory of gearing. Simulation of the motion to verify the speed reduction ratio was conducted via CAE software and a mock-up is built to validate the design process. The transmission error and backlash of the speed reducer with modified profile are calculated via tooth contact analysis, and the sensitivities of the transmission error and backlash with respect to various design parameters are also investigated. Finally, the energy loss and efficiency of this device was also discussed and simulated.