減速機構為工程運用上不可或缺之裝置，其可將馬達輸出端之轉速降低、扭力增大。而一般常見減速機構之單位尺寸減速比有一定限制，無法廣泛應用於各種場合。Harmonic Drives由於其結構緊密、重量輕，小體積即可達到高減速比，廣泛被應用於機械人及其它特別要考量重量的場合應用。
本研究提出一種創新之減速機構設計，其作動方式利用平板凸輪與滾子從動件之相對運動，產生高減速比。內文中將介紹機構之合成方式，針對其合成參數對於曲率半徑、壓力角、接觸力與接觸應力之影響進行分析，並建立量測平台，驗證此機構減速之特性。最後將綜觀各參數之影響，進行最佳化設計，找尋符合需求且尺寸最小之構型。

Reducers are commonly used in many types of machines to reduce the speed and increase the torque of motors. For general industrial applications, the reduction ratio of a reducer is usually limited in consideration to its size. To provide high reduction ratios, harmonic drives (speed reducers) can be made very compact and lightweight and thus have been popular with robot manufactures and in other applications where weight is critical.
In this study, an innovative design for reducers composed of planar cams and roller followers with high reduction ratios is proposed. It uses the relative motion between rollers and their cams to generate a high reduction ratio. 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 also described. Furthermore, the experiments for testing and verifying the characteristics of the reducer are presented. Finally, a set of design parameters which meets the demand of an application is found by optimization methods.

論文審定書 i
誌謝 ii
目錄 iii
圖次 iv
表次 v
摘要 vi
ABSTRAT vii
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 5
1.4 論文大鋼 5
第二章 機構合成 6
2.1 偏心凸輪式減速機構介紹 6
2.2 凸輪外廓之合成 9
2.2.1 剛體轉置法介紹 9
2.2.2 偏心凸輪式減速機構之合成 11
第三章 機構運動分析 14
3.1 凸輪外廓曲率半徑之求取 14
3.2 凸輪壓力角之求取 16
3.3 凸輪與滾子所承受之負荷與接觸應力 18
3.4 設計範例與分析 23
3.5 轉速與扭力量測實驗 27
3.5.1 轉速與扭力量測實驗架構 27
3.5.2 轉速與扭力量測實驗結果 30
3.6 各設計參數對運動性質之影響 32
3.6.1 曲率半徑 34
3.6.2 壓力角 37
3.6.3 接觸力與接觸應力 40
3.6.4 參數對運動性質影響整理 43
第四章 機構最佳化設計 44
4.1目標函數、限制條件與最佳化方法之確立 44
4.2 最佳化設計之結果 47
第五章 結論 50
參考文獻 51

[1] Unknown Inventor, 1930, U.S. patent No. Re. 17811.
[2] Fujimoto, K., 2009, “Eccentric Oscillating-type Planetary Gear Device,” U.S. patent No. 7476174.
[3] Janek, B., 1999, “Gear System,” U.S. patent No. 5908372.
[4] Musser, C. W., 1959, “Strain Wave Gearing,” U.S. patent No. 291959.
[5] Cochran, V. and Bobak, T., 2008, “A Methodology for Identifying Defective Cycloidal Reduction Components Using Vibration Analysis and Techniques,” AGMA Technical Paper.
[6] Paško, J. and Balara, A., 2005, “The Model of Bearing Reducer.”
[7] Kayabasi, O. and Erzincanli, F., 2007, “Shape optimization of tooth profile of a flexspline for a harmonic drive by finite element modeling,” Materials and Design, Vol. 28, pp. 441-447.
[8] Dhaouadi, R., Ghorbel, F. H. and Gandhi, P. S., 2003, “Transaction on Industrial Electronics,” Vol. 50, No. 6, pp. 1165-1171.
[9] Maekawa, H., 2008, “High reduction combined planetary gear,” patent No. WO/2008/136211.
[10] 吳宗蔚、謝龍昌，2008，高減速比行星齒輪系之系統化設計，國立虎尾科技大學碩士論文。
[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. Autom. Des., 111, pp. 337–344.
[13] Chmurawa, 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] Rothbart, H. A., 1956, “Cams-Design, Dynamics and Accuracy,” John Wiley & Sons, New York.
[16] 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.
[17] 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.
[18] Sumitomo Drive Technologies website, from the World Wide Web: http://smcyclo.com/.
[19] Nabtesco Precision Equipment Company website, from the World Wide Web: http://precision.nabtesco.com/en/index.html.
[20] SPINEA Solution for Precision website, from the World Wide Web: http://www.spinea.sk/.
[21] Harmonic Drive AG website, from the World Wide Web: http://www.harmonicdrive.de/.