RV減速機之力量分析與動態模擬

Abstract

RV減速機為一結合擺線齒輪系及行星齒輪系之減速機構，除了具有傳統擺線減速機之特性，如高減速比、高承載能力及高傳動效率等優點，更可透過與行星齒輪系之組合，得到更多樣之減速比與較高的衝擊耐性，於是被廣泛用於工業用機械手臂領域，而RV減速機的性能－包括傳動精度、效率以及力學性能等，對手臂的整體表現有極大的影響，因此，對於RV減速機元件的受力分析，需要有更深入的探討。本文首先介紹RV減速機之構造，並用齒輪原理創成擺線齒形及漸開線齒形；接著，提出一種和RV減速機具有相同運動模式之簡化模型，並透過該模型求解RV減速機之曲柄軸軸承負載，再以此為基礎進行具齒形修形之擺線齒輪和針齒間的接觸力分析。最後，本文利用電腦輔助軟體ADAMS 模擬減速機作動時的負載，並和受力分析之理論值互相比較，且對兩者間的趨勢進行討論，此結果可用以提供設計者迅速對減速機內部零件之受力進行預測。

The RV speed reducer is a type of speed reduction mechanism that is composed of cycloidal gear train and involute gear train. In addition to the characteristics of the traditional cycloidal gear drive, such as high reduction ratio, large torque density and high transmission efficiency, RV speed reducer has wider range of reduction ratios and higher impact resistance because of the combination with planetary gear train. Therefore, it has been widely used in the field of industrial robotic arms. The performance of RV reducer, including transmission accuracy and mechanical properties, has a great impact on the overall performance of robotic arms. As a result, the force analysis of components in RV reducer need to be discussed deeply. At first, the structure of RV reducer and the method of tooth profile generation are mentioned in this paper. Then, a simplified RV reducer model with the same kinematic structure as the original one is proposed, and the bearing loads are solved by using the model. Based on the result, the contact force between cycloidal disc and pins is also calculated. Finally, the procedure of dynamic simulation using ADAMS software is developed. Moreover, simulation results of bearing loads are demonstrated and compared with the theoretical one.