現今各產業均朝自動化高速製程的目標邁進，故高速自動化設備精準定位性能之追求為一急需發展之關鍵技術。機械式高速旋轉定位台由於具備精度高、無背隙誤差、機構簡單之優點，故被廣泛地使用。但隨著工作轉速的提升，定位精度不良、振動與噪音產生等問題，更是目前所需克服改善的地方。

扭力補償機構之功用，即在提供高速旋轉定位台運作時馬達所不足的扭力，達到轉速穩定提升定位精度。而先前相關之研究皆從事同時序補償，本論文將針對扭力補償時序部分，由能量的觀點出發，透過系統模擬架構的建立、補償時序的規劃與實際加工及實驗，探討補償時序控制與旋轉定位台工作轉速及各參數之關係，作為改善高速旋轉定位台精度之參考依據。

Recently, many industries pursue the goal of automatic high-speed assembly and manufacturing. So how to meet the requirement of high-precision and high-speed automatic assembly equipment is an important issue. In automatic assembly equipment, the high-speed indexing devices have been widely used because of their features of high precision, no backlash, and compactness. With increasing operating speeds, the problems of shortage of motor power, poor indexing accuracy, vibration, and noise shall be solved.

The torque compensation mechanism that is to be developed here is applied to keep motors operating at constant speeds by compensating the required torque. In previous researches, the researchers all devote to study torque compensation based on synchronous time chart. In this paper, it is aimed at compensation of the time control chart according the point of view of energy and the system model is built to simulate dynamic response of the system. Through the results of simulation and experiment, we will discover the relations between the compensation time chart and parameters about the high-speed indexing devices. It is expected to improve the precision of indexing devices according to those effective compensation time control charts.

摘要……………………………………………………………………Ⅰ
Abstract………………………………………………………………Ⅱ
目錄……………………………………………………………………Ⅲ
圖目錄…………………………………………………………………Ⅴ
表目錄…………………………………………………………………Ⅶ
符號說明………………………………………………………………Ⅷ
第一章 緒論………………………………………………………1
1-1前言……………………………………………………………...1
1-2文獻回顧………………………………………………………...4
1-3研究目的與方法………………………………………………...6
1-4論文架構………………………………………………………...8
第二章 滾子凸輪機構與扭力補償機構…………………………9
2-1 滾子凸輪機構…………………………………………………..9
2-1-1簡述……………………………………………………….....9
2-1-2運動曲線…………………………………………………....11
2-1-3影響定位精度因素……………………………………......13
2-1-4滾子凸輪運動曲線與扭力之關係……………………......14
2-2 扭力補償機構………………………………………………….16
2-2-1設計動機與原理………………………………………......16
2-2-2各類型扭力補償機構…………………………………......17
第三章 扭力補償機構之設計………………………………….20
3-1 補償機構設計………………………………………………….20
3-2 扭力補償凸輪曲線之合成…………………………………….24
3-2-1 正規化扭力補償凸輪曲線…………..…………………...24
3-2-2 扭力補償凸輪曲線之合成…………………………….....25
第四章 動態系統模型建立…………………………………….32
4-1 系統模型……………………………………………………….32
4-2 系統方程式…………………………………………………….35
第五章 系統模擬……………………………………………….41
5-1 扭力補償時序………………………………………………….41
5-2 以能量轉移為基礎規劃補償時序…………………………….41
5-3 模擬各補償時序之定位精度………………………………….48
5-4 合成相對應之凸輪運動曲線………………………………….51
第六章 實驗量測……………………………………………………54
6-1 實驗設備……………………………………………………….54
6-2 實驗規劃……………………………………………………….57
6-3實驗結果………………………………………………………..62
6-3-1加速度變化……………………………………………......62
6-3-2馬達轉速變化…………………………………………......78
6-4實驗結果分析…………………………………………………..90
6-4-1輸出軸振動模式………………………………………......90
6-4-2殘振……………………………………………………......93
6-4-3速度變化量……………………………………………......96
6-5 實驗結果討論………………………………………………….97
第七章 結論……………………………………………………….100
參考文獻…………………………………………………………….103

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