本研究主要針對偏心凸輪式減速機構，進行動力負載及元件強度設計進行一系統性的分析。文中首先依此偏心凸輪減速機構的作動方式，建構其動態運動方程，並進而建立各元件之乘載應力。文中為驗證各推導方程之實用性，乃就一特定設計在不同輸出負載條件下，探討各元件接觸面之赫茲應力、及接觸點壓力域最大剪應力值的變化情形，並且進一步的分析凸輪之安全係數與設計。
文中亦利用此分析程式，探討不同的系統構件參數：如滾子輪盤半徑、滾子半徑、減速比等對整體系統強度之影響，並且與市面上的Harmonic Drive進行承載能力比較，分析兩者在相同減速比的情況下，所能夠承受負載的大小。文中亦將對不同滾子凸輪材料以及摩擦係數，在相同尺寸下對減速機構承載之影響。

Dynamic load variation between components of an eccentric cam reducer was investigated in this work. The equations of motion of components are derived with considering the friction effect. The Smith-Liu Hertz equations have been employed to investigate the effect on the stress field due to normal and shear stresses in the contact zones. A time varied load is used to illustrate the feasibility of proposed equations with a specified eccentric cam reducer.
The effect of component size parameters, i.e. radius of cam disk, radii of rollers, reduction ratio on the load capability of the reducer has also been studied in this thesis. A comparison of the load capability between the traditional cup-type harmonic drive and the eccentric cam reducer has also been studied in this work. Results indicate that the eccentric cam reducer can have a high load capacity.

謝誌 i
摘要 ii
Abstract iii
目錄 iv
圖目錄 vi
表目錄 viii
符號說明 ix
第一章緒論 1
1.1 研究背景與動機 1
1.2文獻回顧 3
1.3組織章節 5
第二章機構合成與凸輪外廓之推導 7
2.1偏心凸輪式減速機構之介紹 7
2.2剛體轉置法 10
2.3凸輪外廓求取之步驟 11
2.4偏心凸輪式減速機構之合成 12
第三章機構運動分析 16
3.1轉速分析 16
3.2轉矩分析 18
3.3凸輪壓力角之求取 24
第四章系統安全係數分析模式 27
4.1動態負載下最大剪應力之降伏破壞 27
4.2滾子中心軸剪應力之破壞 35
4.3動態負載下之表面疲勞破壞 38
4.4凸輪曲率半徑之求取 42
第五章數值分析結果與討論 46
5.1改變設計參數對整體機構之影響 46
5.2不同輸出負載之影響 53
5.3減速比之影響 67
5.3.1不同減速比對應力之影響 67
5.3.2與傳統Harmonic Drive之比較 73
5.4不同摩擦係數及材料 79
第六章結論與未來工作 86
6.1結論 86
6.2未來工作 87
參考文獻 88

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