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博碩士論文 etd-0731115-221608 詳細資訊
Title page for etd-0731115-221608
論文名稱
Title
偏心凸輪式減速機構運動與動力分析
Kinematic and Dynamic Analyses of Eccentric Cam Drives
系所名稱
Department
畢業學年期
Year, semester
語文別
Language
學位類別
Degree
頁數
Number of pages
85
研究生
Author
指導教授
Advisor
召集委員
Convenor
口試委員
Advisory Committee
口試日期
Date of Exam
2015-07-24
繳交日期
Date of Submission
2015-08-31
關鍵字
Keywords
擺線、凸輪、剛體轉置法、高減速比
high reduction ratio, rigid body transformation, cycloid, cam
統計
Statistics
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中文摘要
近年來,世界工業生產大國(中國、美國、日本)等,皆因人工薪資逐年上漲及需要維持產品的生產品質,我國產業也面臨同樣的挑戰。許多企業開始積極尋求利用工業機器人以取代人力,進而帶動國內工業機器人產業蓬勃發展。減速機構為機械人關節不可或缺的裝置,其可將馬達輸出端轉速降低及扭力增大。
本論文將介紹偏心凸輪式減速機構之合成方式,進行機構運動與動力分析,針對其合成參數與應用需求建立一套分合成與分析方法,提升開發可應用於多軸機器人關節手臂中新型減速機構之完整性,使其具有高減速比、可靠、高強度、高剛性、低背隙及耐用等特徵,可提供工業機器人產業更多樣性的選擇。
Abstract
In recent years, the main producers in the world (China, USA, Japan, etc.) have balanced the wage-claims and the good quality control for products. The industry in Taiwan has faced the same challenges. Recently, the producers of domestic industrial robots have flourished since many companies actively began to find the way to replace the workers by industrial robots. Reducers are commonly used in the robot joints to reduce the speed and increase the torque of motors.
In this thesis, the synthesis procedure of the reducer and the analysis results of the kinematic and dynamic characteristics based on the design parameters are described. To illustrate the application of the procedure, a series of examples is given. It is expected that the techniques of the reducers can be used for makers of industrial robots.
目次 Table of Contents
論文審定書 i
誌謝 ii
摘要 iv
ABSTRAT v
目錄 vi
圖次 vii
表次 ix
第一章 緒論 1
1.1前言 1
1.2文獻回顧 3
1.3研究目的與研究方法 3
1.4論文大綱 4
第二章 機構合成 5
2.1 偏心凸輪式減速機構介紹 5
2.1.1 機構速比計算及應用 6
2.1.2 機構結構配置 11
2.2 凸輪外廓之合成 16
2.2.1 剛體轉置法介紹 16
2.2.2 偏心凸輪式減速機構之合成 18
第三章 運動與動力分析 21
3.1 凸輪外廓曲率半徑求取 21
3.2 壓力角求取 23
3.3 機構扭力傳遞關係與凸輪滾子承受負荷求取 24
3.4 接觸應力求取 33
3.5 設計範例與分析 34
第四章 設計參數對幾何與運動特徵之影響 38
4.1 機構速比固定 38
4.2 機構速比變動 44
4.3 機構尺寸固定 54
4.4 滾子半徑變動 61
第五章 結論 70
參考文獻 71
附錄A 73
附錄B 74
參考文獻 References
[1] Bosch Rexroth Company website, from the World Wide Web:
http://www.boschrexroth.com/en/xc/
[2] Kuka Company website, from the World Wide Web:
http://www.kuka-robotics.com/en/
[3] 黃仲宏,2014,「台灣智慧型機器人產業的現況分析與發展動向」,智慧自動化產業期刊 No. 9,pp. 2–13。
[4] Musser, C. W., 1959, “Strain Wave Gearing,” U.S. Patent No. 291959.
[5] Fujimoto, K., 2009, “Eccentric Oscillating-type Planetary Gear Device,” U.S. Patent No. 7476174.
[6] Braren, L. K., 1930, “Gear Transmission,” U.S. Patent No. Re. 17811.
[7] Janek, B., 1999, “Gear System,” U.S. Patent No. 5908372.
[8] 中華民國,2014,偏心凸輪變速機構,發明號I431209。
[9] 郭子齊, 2012, 偏心凸輪式減速機構之設計, 國立中山大學機械與機電工程研究所碩士論文。
[10] Botsiber, D. W., and Kingston, L., 1956, "Design and Performace of the Cycloid Speed Reducer," Machine Design, Vol. 28, no 13, pp. 65-69
[11] Malhotra, S. K. and Parameswaran, M. A., 1983, “Analysis of a Cycloid Speed Reducer,” Mech. Mach. Theory, 18(6), pp. 491–499.
[12] Blanche, J. G. and Yang, D. C. H., 1989, “Cycloid Drives with Machining Tolerances,” J. Mech. Trans. Auto. Des., 111, pp. 337–344.
[13] Hmurawa, M. and John, A., 2000, “Numerical Analysis of Forces, Stress and Strain in Planetary Wheel of Cycloidal Gear Using FEM,” Numerical Methods in Continuum Mechanics, Liptovsky Jan, Slovak Republic.
[14] Chmurawa, M. and Lokiec, A., 2001, “Distribution of Loads in Cycloidal Planetary Gear (CYCLO) Including Modification of Equidistant,” 16th European ADAMS User Conference, Berchtesgaden, Germany.
[15] Pierrat, M. A., 1976, “Mechanical Drives,” U.S. Patent No. 3998112.
[16] Blagojevic, M., Marjanovic, N., and Djordjevic, Z., 2011, “A New Design of a Two-Stage Cycloidal Speed Reducer,” ASME J. of Mech. Des., Vol. 133. pp. 1–7.
[17] 中華民國,2015,差速兩級高減速比擺線減速機,發明號I481788。
[18] Rothbart, H. A., 1956, “Cams-Design, Dynamics and Accuracy,” John Wiley & Sons, New York.
[19] Tsay, D. M. and Wei, H. M., 1996, “A General Approach to the Determination of Planar and Spatial Cam Profiles,” ASME Journal of Mechanical Design, Vol. 118, pp. 259–265.
[20] Tsay, D. M. and Lin, B. J., 1996, Profile Determination of Planar and Spatial Cam with Cylindrical Roller-Followers, IMechE Journal of Manufacturing Science and Engineering , Vol.119, pp. 21–29. Varitron
[21] Varitron Company website, from the World Wide Web:
http://c-var.wiwe.com.tw/
[22] NSK Company website, from the World Wide Web:
http://www.nsk.com/
[23] IKO Company website, from the World Wide Web:
http://www.ikont.co.jp/
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