| 摘要(英) |
The cycloid planetary gear drives, so-called RV-drives in the industries, consist of a cycloid planetary gear stage and an involute planetary gear stage. Due to the short tooth depth of cycloid profile, a small tooth number difference can be achieved for application with a high reduction ratio and multiple tooth pairs in contact. With these features the cycloid planetary gear drives can have higher durability, higher shock absorbability and higher power density than the conventional involute planetary gear drives. On the other hand, the multiple contact tooth pairs can also provide lower backlashes, which make precision transmission possible. Because of the above features the cycloid planetary gear drives are widely applied in the conditions with heavy load, shock or high precision, for example, automatic machinery, civil machinery, as well as yaw and pitch system of wind turbines. However, the analysis of the split torques among the crankshafts and the two cycloid disks as well as the shared loads among the contact tooth pairs becomes difficult, because of multiple tooth pairs in contact and power split. On the other hand, the cycloid disks move eccentrically and the bearing stiffness can not be ignored. The dynamic loading conditions are influenced additionally by centrifugal and inertia effect and the bearing stiffness with comparison of static analysis. The power distribution and the load sharing of tooth pairs in cycloid planetary gear drives are the essential research topics.
The purpose of this thesis is to establish a dynamic analysis model by using software Adams for load analysis of the cycloid planetary gear drives. In the study the meshing stiffness of the contact tooth pairs is at first determined by using FEM. The analysis result of load sharing of contact tooth pairs with the obtained stiffness parameters has a good agreement with a loaded tooth contact analysis (LTCA) approach. This method is obviously reliable. The analysis model is therefore established with aid of this approach, and the bearing stiffness is considered in the model. The study cases in the thesis for dynamic load analysis include two different reducers, each having the pin-wheel or the carrier as the output component. The tooth modification of the two cases are different due to different application conditions. The boundary conditions for dynamic load analysis include quasi-static, various constant speeds, and variable speed conditions. The analysis items in the thesis are the transmission error with/without eccentric error of cycloid disks, shared loads in cycloid and involute tooth pairs, variation of bearing loads for supporting the cycloid disks, and the distribution of the torques to the crankshafts and cycloid disks.
The results show that different kinds of tooth modification cause different variations in tooth contact force. The nonlinear bearing stiffness will cause also unevenly shared torques between crankshafts and cycloid disks. The variation of the unevenly shared torques among the three crankshafts is about 13%, and 1% between the two cycloid disks. The dynamic conditions affect also the tooth contact forces, not only in the trend and but also the maximum value of the shared forces. As the speed increases, the end of tooth contact occurs earlier, and the maximum value of the shared loads also increase, for example, the maximum value in the condition of the output speed 30 rpm is 1.5 times as much as that in the quasi-static condition.
The analysis results show that the computer-aided analysis approach proposed in this study can effectively analyze the varaition of dynamic loads in the cycloidal planetary gear deives due to the bearing stiffness and the rotational speed.
Keywords：Cycloid planetary gear drives, Dynamic load analysis, Multiple tooth contact, Adams |
| 參考文獻 |
[1] Braren, L.K.: Gear Transmission, US Patent 1694031, 1928.
[2] Kiyozumi, F.: Speed Change Device, US Patent 4348918, 1980.
[3] Mastsumo, H.: Robot Arm Drive Apparatus of Industrial Robot, US Patent 4348918, 1980.
[4] Ogata, S., Taki, K.: “Planetary Reduction Gear”. US Patent 4898065 A, 1990.
[5] Fujimoto, K. “Eccentric Orbiting Type Speed Reducer”. US Patent 6508737 B2, 2003.
[6] Nohara, O., Yokoyama, K. “Eccentric Oscillating-type Speed Reducer”. US Patent 6679801 B2, 2004.
[7] 關天民，“擺線針輪行星傳動中擺線輪最佳修形量的确定方法”，中國機械工程學會會刊，第13卷第10期，811-813頁，2002。
[8] 關天民，“擺線針輪行星傳動中反弓齒廓研究及其优化設計”， 大連鐵道學院學報，第26卷第4期，17-20頁，2005。
[9] 關天民，“擺線針輪行星傳動中反弓齒廓研究与分析”，大連鐵道學院學報，第32卷第2期，24-32頁，2011。
[10] 黃重憲，“具修整齒形擺線傳動器之曲面設計、齒形接觸分析與最佳修整參數設計的研究”，國立成功大學機械工程學系碩士論文，2006。
[11] 林灣松，“二階擺線減速機之運動誤差分析與設計”，國立台灣大學機械工程學系碩士論文，2013。
[12] Blanche, J. G. and Yang, D. C. H.: “Cycloid Drives with Machining Tolerances”, Journal of Mechanisms, Transmissions, and Automation in Design, Vol. 111,No. 3, pp. 337-344, 1989.
[13] Yang, D. C. H. and Blanche, J. G.: “Design and Application Guidelines for Cycloid Drives with Machining Tolerances”, Mechanism and Machine Theory, Vol. 25, Issue 5, pp. 487-501, 1990.
[14] Hidaka, T., Wang, H. and Ishida, T.: “Rotational Transmission Error of K-H-V-Planetary Gears with Cycloid Gear, 1st Report, Analytical Method of the Rotational Transmission Error”, Transactions of JSME, Ser. C, Vol. 60, No. 570, pp. 645-653, 1994.
[15] Ishida, T., Wang, H. Y. and Hidaka, T.: “Rotational Transmission Error of K-H-V-Planetary Gears with Cycloid Gear, 2nd Report, Effects of Manufacturing and Assembly Errors on Rotational Transmission Error”, Transactions of JSME, Ser. C, Vol. 60, No. 578, pp. 278-285, 1994.
[16] Wang, H. Y., Ishida, T. and Hidaka, T.: “Rotational Transmission Error of K-H-V-Planetary Gears with Cycloid Gear, 3rd Report, Mutual Effects of Errors of the Elements on the Rotational Transmission Error”, Transactions of JSME, Ser. C, Vol. 60, No. 578, pp. 286-293, 1994.
[17] 黃薇臻，“考慮主要誤差下具修整齒廓之擺線行星齒輪傳動機構之接觸特性”，國立中央大學機械工程學系碩士論文，2016。
[18] Malhotra, S. K. and Parameswaran, M. A.: “Analysis of a Cycloid Speed Reducer”, Mechanism and Machine Theory Vol. 18, No. 6, pp. 491-499, 1983.
[19] Dong, X., Deng, J. and Chen, J.: “Force Analysis of RV Transmission Mechanism”, Journal of Shanghai Jiao Tong University, Vol.30, No.5, pp. 65-70, 84, 1996.
[20] Chmurawa, M. and Antoni, J.: “FEM in Numerical Analysis of Stress and Displacement Distribution in Planetary Wheel of Cycloidal Gear”, Spring-Verlag Berlin Heidelberg, pp. 772-799, 2000.
[21] 曾柏桑，“以有限元素法分析擺線減速機之受力表現”，國立台灣大學機械工程學系碩士論文，2016。
[22] Kim, Y. H., Lee, C. S. and Ahn, H. J.: “Torsional Rigidity of a Cycloid Drive Considering Finite Bearing and Hertz Contact Stiffness.” Proceedings of MPT2009-Sendai, JSME International Conference on Motion and Power Transmissions, May 13-15, Matsushima Isles Resort, Japan, 2009.
[23] Li, S.: “Design and Strength Analysis Methods of the Trochoidal Gear Reducers.” Mechanism and Machine Theory. 81, pp. 140-154, 2014.
[24] Wu, S. H. and Tsai, S. J.: “Contact Stress Analysis of Skew Conical Involute Gear Drives in Approximate Line Contact”, Mechanism and Machine Theory, Volume 44, Issue 9, pp. 1658–1676, 2009.
[25] Tsai, S. J. and Huang, C. H.: “Loaded Tooth Contact Analysis of Cycloid Planetary Gear Drives”, 14th World Congress in Mechanism and Machine Science, Taipei, Taiwan, 25-30 October, 2015.
[26] Tsai, S. J., Huang, W. J. and Huang, C. H.: “A Computerized Approach for Load Analysis of Planetary Gear Drives with Epitrochoid-Pin Tooth-pairs”, VDI-Berichte 2255, pp. 307-316, 2015.
[27] Tsai, S. J. and Huang, C. H.: “A Study on Loaded Tooth Contact Anlysis of a Cycloid Planetary Gear Reducer Considering Bearing Roller Stiffness”, The JSME International Conference on Motion and Power Transmissions, 2017.
[28] Do, T. P. and Ziegler, P.:“Review on Contact Simulation of Beveloid and Cycloid Gears and Application of a Modern Approach to Treat Deformations”, Mathematical and Computer Modelling of Dynamical Systems, 2015.
[29] Thube, S. V. and Bobak, T. R.: “Dynamic Analysis of a Cycloidal Gearbox Using Finite Element Method”. 12FTM18, AGAMA Fall Technical Meeting, 2012.
[30] Chmurawa, M. and Lokiec, A.: “Distribution of Loads in Cycloidal Planetary Gear (Cyclo) including Modification of Equidistant”, Proceedings of the 16th European Mechanical Dynamics User Conference, 2001.
[31] Nabtesco Co., Ltd., https://www.nabtesco.com/en/
[32] Transmission Machinery Co., Ltd., http://www.transcyko-transtec.com/ |
[Endnote RIS 格式]
[相關文章]
[文章引用]
[完整記錄]
[館藏目錄]
至系統瀏覽論文 ( 永不開放)
plurk
funp
live
udn
HD
myshare
netvibes
friend
youpush
delicious
baidu
Google bookmarks
del.icio.us
hemidemi
facebook
twitter
google
reddit