本文主要在探討諧波驅動器系統在不同運轉速度下之動態響應，文中就數值模擬與實驗驗證兩方面，探討諧波驅動器中彈性齒杯的扭轉剛度、扭轉阻尼與系統輸出、輸入端組件( 轉軸與聯軸器 )對系統動態響應的影響。於理論分析過程中，主要利用拉格朗日方程( Lagrange’s equation )配合各組件特性，建立系統運動方程，再利用藍日卡達法( Runge-Kutta method )數值解析方法求解此系統之動態響應。於實驗量測分析上，配合自行設計的模組式系統測試台，經由實驗量測與理論模擬結果進行比較分析，驗證文中數值解析模式之正確性與可行性。

In this thesis, the dynamic responses of harmonic drive (H.D.) systems under different operating conditions are investigated. The numerical simulation and the experimental measurements of harmonic drive systems are included in this thesis. The effects of flexspline of harmonic drive, i.e., the torsional stiffness and the damping ratio on the response of corresponding system are studied .Lagrange’s equation is employed to derive the equation of motion of the system. The system equation with a nonlinear torsional stiffness is solved by using the 6th order Runge-Kutta method. Comparison between numerical simulation results and experimental measured data indicate that the proposed harmonic drive model is accurate and feasible for simulating the dynamic response of a harmonic drive system.

摘要 i
目錄 ii
圖目錄 iv
表目錄 ix
符號說明 x
第一章 緒論 1
1-1 前言 1
1-2 文獻回顧 5
1-2-1 設計製造方面之研究 5
1-2-2 齒輪嚙合方面之研究 5
1-2-3 動態分析與控制方面 6
1-3 章節與組織 8
第二章 諧波驅動器系統之數學模式推導 9
2-1 諧波驅動器系統之數學模式推導 9
2-1-1 諧波驅動器簡化模式 9
2-1-2 系統運動方程式推導 13
2-2 諧波驅動器系統動態參數分析 17
2-2-1 各轉軸之扭轉剛度 17
2-2-2 諧波驅動器之剛度估算 19
2-2-3 系統組件參數動態抽取與實驗量測 21
2-3 系統運動方程分析—數值解析 27
2-3-1 穩態響應之解析 27
2-3-1 暫態響應之解析 29
第三章 系統理論模擬與實驗驗證 30
3-1 諧波驅動器系統測試台之設置 30
3-1-1 實驗台簡介 30
3-1-2 實驗台各模組說明 31
3-2 系統組件動態參數抽取與量測結果 40
3-3 理論與實驗結果之分析與比較 46
3-3-1 系統之穩態響應分析 46
3-3-2 諧波驅動器在不同加速條件之系統暫態響應 58
3-3-3 諧波驅動器定位精度分析 72
第四章 結論 81
附錄A 二階微分方程降階處理 82
附錄B 加速度計串並聯用於組件動態參數量測 84
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