二階擺線減速機之運動誤差分析與設計

Abstract

擺線齒輪減速機由於具有高效率、低背隙以及高減速比等優點，在工業界的應用已經有一段時間。本論文的內容主要為對一種新型二階擺線減速機進行整體設計，包括建立擺線齒形設計的流程、討論不同種類之修形方法、運用齒輪原理進行運動誤差分析以及雛型的打樣。首先，藉由機構簡圖和拓樸構造說明擺線減速機的機構構造及其運作原理；接著藉由齒輪原理中的坐標轉換以及嚙合方程式求出擺線齒形的參數式；之後考慮到加工上的誤差，對擺線齒輪齒形做修形，並且藉由齒面接觸分析來得到運動誤差，再根據不同修形量的組合進行運動誤差分析，並整理出不同修形量對應的運動誤差圖表。本文最後將所設計的二階擺線減速機付之實作，以驗證機構運動的可行性。

The cycloidal drive is a compact, high-ratio, low-backlash speed reduction device, commonly used in industry for decades. This thesis studies the design of a novel two-stage cycloidal speed reducer. The mechanism and working principle of cycloid drive is explained by topological structure and kinematic diagram. The advantages of two-stage cycloidal drives over one-stage cycloidal drive are discussed. Then, the cycloidal gear profile is generated by using theory of gearing. Due to the manufacturing errors, the cycloidal gear profiles have to be modified. Types of profile modification are discussed. Kinematic error is then analyzed by using the tooth contact analysis, and the results are presented in graph, showing different combinations of the gear modification. Finally, based on the design results a prototype of two-stage cycloidal gear reducer is constructed to verify the design process.