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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 李志中(Jyh-Jone Lee) | |
| dc.contributor.author | Chen-Yang Hsu | en |
| dc.contributor.author | 徐辰揚 | zh_TW |
| dc.date.accessioned | 2021-05-20T00:51:49Z | - |
| dc.date.available | 2025-08-12 | |
| dc.date.available | 2021-05-20T00:51:49Z | - |
| dc.date.copyright | 2020-08-26 | |
| dc.date.issued | 2020 | |
| dc.date.submitted | 2020-08-12 | |
| dc.identifier.citation | [1] 姚冠年，'RV 減速機之力量分析與有限元素模擬'，碩士論文，國立台灣大學機械工程學系，台北，台灣，2018。 [2] B. L. Konrad, 'Production of cycloidal curves,' ed: Google Patents, 1931. [3] R. Braren, 'Cycloidal gears,' ed: Google Patents, 1977. [4] S. K. Malhotra M. A. Parameswaran, 'Analysis of a cycloid speed reducer,' Mechanism and Machine Theory, vol. 18, no. 6, pp. 491-499, 1983. [5] J. Blanche D. Yang, 'Cycloid drives with machining tolerances,' 1989. [6] F. L. Litvin P.-H. Feng, 'Computerized design and generation of cycloidal gearings,' Mechanism and Machine Theory, vol. 31, no. 7, pp. 891-911, 1996. [7] M. Chmurawa A. Lokiec, 'Distribution of loads in cycloidal planetary gear (CYCLO) including modification of equidistant,' in 16th European ADAMS user conference, Berchtesgaden, Germany, 2001. [8] C. Gorla, P. Davoli, F. Rosa, C. Longoni, F. Chiozzi, A. Samarani, 'Theoretical and experimental analysis of a cycloidal speed reducer,' ASME Journal of Mechanical Design, vol. 130, no. 11, 2008. [9] M. Blagojević, V. Nikolić, N. Marjanović, L. Veljović, 'Analysis of cycloid drive dynamic behavior,' Scientific Technical Review, vol. 59, no. 1, pp. 52-56, 2009. [10] M. Chmurawa A. John, 'FEM in numerical analysis of stress and displacement distributions in planetary wheel of cycloidal gear,' in International Conference on Numerical Analysis and Its Applications, 2000: Springer, pp. 772-779. [11] M. Blagojević, N. Marjanović, Z. Djordjević, B. Stojanović, 'Stress and Strain State of Single-Stage Cycloidal Speed Reducer,' in presentert ved The 7th International Conference Research and Development of Mechanical Elements and Systems, Zlatibor, Serbia, 2011. [12] M. Blagojević, N. Marjanović, Z. Djordjević, B. Stojanović, A. Disic, 'A new design of a two-stage cycloidal speed reducer,' ASME Journal of Mechanical Design, vol. 133, no. 8, 2011. [13] S. V. Thube T. R. Bobak, 'The dynamic simulation and analysis of a cycloidal speed reducer,' in ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, 2011: American Society of Mechanical Engineers Digital Collection, pp. 471-479. [14] 徐鼎翔，'具修形齒形擺線減速機接觸力分析與有限元素模擬'，碩士論文，國立台灣大學機械工程學系，台北，台灣，2016。 [15] K. Matsumoto, M. Hashimoto, M. Iwata, 'Robot arm drive apparatus of industrial robot,' ed: Google Patents, 1987. [16] T. Hidaka, H.-y. Wang, T. Ishida, K. Matsumoto, M. Hashimoto, 'Rotational transmission error of KHV planetary gears with cycloid gear: 1st report, analytical method of the rotational transmission error,' Trans. Jpn. Soc. Mech. Eng. Ser. C, vol. 60, no. 570, pp. 645-653, 1994. [17] T. Ishida, H. Wang, T. Hidaka, M. Hashimoto, 'Rotational transmission error of KHV-type planetary gears with cycloid gears: 2nd report, effects of manufacturing and assembly errors on rotational transmission error,' Trans. Jpn. Soc. Mech. Eng. Ser. C, vol. 60, no. 578, pp. 3510-3517, 1994. [18] 董向陽，鄧建一與陳建平，'RV 傳動機構的受力分析'，上海交通大學學報，第30卷，第5期，頁65-70，1996。 [19] D. Zhang, G. Wang, T. Huang, J. Liu, 'Dynanic Formulation of RV Reducer and Analysis of Structural Parameters,' Chinese Journal of Mechanical Engineering, vol. 37, no. 1, pp. 69-74, 2001. [20] Y. Zhang W. He, 'Dynamical Analysis and Simulation of RV Reducer,' in International Conference on Mechanical and Electrical Technology, 3rd, (ICMET-China 2011), Volumes 1–3: ASME Press, 2011, pp. 905-910. [21] Y.-G. Sun, X.-F. Zhao, F. Jiang, L. Zhao, D. Liu, G.-B. Yu, 'Backlash analysis of RV reducer based on error factor sensitivity and monte-carlo simulation,' International Journal of Hybrid Information Technology, vol. 7, no. 2, pp. 283-292, 2014. [22] 吳坤祐，'電腦輔助 RV 減速機之傳遞運動誤差及背隙分析'，碩士論文，國立台灣大學機械工程學系，台北，台灣，2017。 [23] 張靖，張甯喬，黃勁儫與蔡錫錚，'擺線行星齒輪傳動機構之動態負載分析與模擬'，第21屆全國機構與機器設計學術研討會，國立台灣海洋大學，基隆，台灣，2018，頁207-218。 [24] K.-h. Kim, C.-s. Lee, H.-J. Ahn, 'Torsional rigidity of a cycloid drive considering finite bearing and Hertz contact stiffness,' in ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, 2009: American Society of Mechanical Engineers Digital Collection, pp. 125-130. [25] D. Zeng, G. Liu, K. He, 'Contact Force Analysis of RV Reducer,' in 2018 6th International Conference on Mechanical, Automotive and Materials Engineering (CMAME), 2018: IEEE, pp. 100-105. [26] Nabatesco. RV Series Product Catalog. [Online]. Available: https://bit.ly/2YaesL1. Accessed: June. 17, 2020. [27] 機械設計手冊編委會，機械設計手冊單行本輪系，北京，中國：機械工業出版社，2007。 [28] 傅增棣，電腦輔助工程設計：ADAMS基礎應用手冊，台北，台灣：高立圖書有限公司，民93。 [29] A. Sapietová, L. Gajdoš, V. Dekýš, M. Sapieta, 'Analysis of the influence of input function contact parameters of the impact force process in the MSC. ADAMS,' in Advanced mechatronics solutions: Springer, 2016, pp. 243-253. [30] J. Giesbers, 'Contact mechanics in MSC ADAMS,' ed: Bachelor Thesis, University of Tewnte, 2012. [31] 姜振波，'机器人用 RV 减速器动力学性能分析'，碩士論文，大連交通大学，大連，中國，2010。 | |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/8310 | - |
| dc.description.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。 | zh_TW |
| dc.description.abstract | 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. | en |
| dc.description.provenance | Made available in DSpace on 2021-05-20T00:51:49Z (GMT). No. of bitstreams: 1 U0001-0608202013115600.pdf: 6999407 bytes, checksum: 3e3b9a126a754545a12b87554f4c8f48 (MD5) Previous issue date: 2020 | en |
| dc.description.tableofcontents | 目錄 誌謝 i 摘要 ii Abstract iii 目錄 iv 圖目錄 vii 表目錄 x 符號說明 xi 第一章 緒論 1 1.1 前言 1 1.2 文獻回顧 2 1.2.1 擺線減速機 2 1.2.2 RV減速機 5 1.3 研究動機與目的 7 1.4 論文架構 8 第二章 RV減速機構造與其齒形創成 9 2.1 前言 9 2.2 運轉原理與總減速比 9 2.2.1 運轉原理 9 2.2.2 總減速比計算 10 2.3 擺線齒輪創成 12 2.3.1 創成坐標系統與輪廓參數式 12 2.3.2 嚙合方程式與擺線齒形 14 2.4 漸開線齒輪創成 16 2.4.1 坐標系統與輪廓參數式 16 2.4.2 嚙合方程式與漸開線齒形 18 2.5 擺線齒輪修形 19 2.5.1 移距修形 19 2.5.2 等距修形 20 第三章 RV減速機簡化模型之力量與運動分析 21 3.1 前言 21 3.2 簡化模型受力分析 21 3.2.1 自由體圖 21 3.2.2 靜力平衡 25 3.2.3 平衡結果與討論 28 3.3 簡化模型運動分析 31 3.3.1 運動機構化簡 31 3.3.2 靜力求解與結論 34 3.4 修形擺線齒輪與針齒之接觸受力分析 38 3.4.1 條件設定 38 3.4.2 齒面接觸分析 39 3.4.3 分析求解與結論 45 第四章 RV減速機模型的力學建模與模擬 49 4.1 前言 49 4.2 ADAMS使用環境 49 4.2.1 基本假設 49 4.2.2 核心模組 50 4.2.3 接觸設定 52 4.3 簡化RV減速機負載模擬 56 4.3.1 前處理 56 4.3.2 衝擊函數參數設定 59 4.3.3 模擬結果與討論 62 4.4 修形擺線齒輪與針齒之接觸負載模擬 66 4.4.1 前處理 66 4.4.2 模擬結果與討論 67 4.5 完整RV減速機負載模擬 71 4.5.1 前處理 71 4.5.2 模擬結果與討論 73 第五章 結論與未來方向 75 5.1 結論 75 5.2 未來方向 76 參考文獻 77 | |
| dc.language.iso | zh-TW | |
| dc.title | RV減速機之力量分析與動態模擬 | zh_TW |
| dc.title | Force Analysis and Dynamic Simulation of the RV Speed Reducer | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 108-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 林鎮洲(Chen-Chou Lin),蔡錫錚(Shyi-Jeng Tsai) | |
| dc.subject.keyword | RV減速機,齒形創成,力量分析,運動學分析,ADAMS, | zh_TW |
| dc.subject.keyword | RV reducer,Tooth profile generation,Force Analysis,Kinematic Analysis,ADAMS, | en |
| dc.relation.page | 80 | |
| dc.identifier.doi | 10.6342/NTU202002526 | |
| dc.rights.note | 同意授權(全球公開) | |
| dc.date.accepted | 2020-08-13 | |
| dc.contributor.author-college | 工學院 | zh_TW |
| dc.contributor.author-dept | 機械工程學研究所 | zh_TW |
| dc.date.embargo-lift | 2025-08-12 | - |
| 顯示於系所單位： | 機械工程學系 | |
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