諧波齒輪為自動化機器人產業之關鍵傳動零組件，本專題研究計畫為期二年，為目前執行之106年度專題研究計畫之延續。針對現有之切線雙圓弧齒形諧波齒輪進行改良。在第一年將依據目前建立的二維多項式齒形柔輪與共軛之剛輪，再考慮橢圓形波產生器塞入柔輪所產生的錐化效應，以空間嚙合方法推導得到變轉位之柔輪與剛輪最佳三維齒形，再以最佳化設計配合有限元素分析，探討柔輪輪轂和膜板交界處薄殼結構之最佳形狀設計，以降低應力提升疲勞壽命；也將接續測試機的第二階段建置工作，完成諧波齒輪測試機的電控箱連線、資料擷取系統和人機介面組裝與系統測試。第二年基於齒輪嚙合原理與鉋齒機構相對運動關係，推導切製具內齒的剛輪之正鉋齒刀刃口線輪廓，以及創成正鉋刀的磨輪法向截面輪廓曲線，並加工自行設計的諧波齒輪；同時在實驗方面，將以諧波齒輪測試機試驗自行設計之諧波齒輪特性，並與市售產品比較，也將比對模擬結果與實驗結果。本研究計畫所提出電腦輔助諧波齒輪最佳化設計與分析流程、相關齒形與刀具設計程式以及實驗測試方法，將有助於國內的精密傳動產業在諧波齒輪的設計與製造能力。 ;Harmonic drive (HD) is a key component in automatic and robotics industry. This research project is a two-year project, and is a continuation of the current research project. In the first year, three-dimensional tooth profiles of the flexspline (FS) and circular spline (CS) with variable shift-coefficients will be derived by considering the corning effect inducing by inserting the elliptical wave generator into the FS, based on spatial meshing theory. The optimum design of the shell shape parameters at the intersection of FS's boss and diaphragm will be studied by connecting the FEA and optimization solver, leaded to improved fatigue life of the FS. The profiles of spur shaper cutting which is applied to generate the inner teeth of the CS will be studied in the second year. Besides, the re-grindable tool surface designs with decreasing shifted-coefficient will be derived. Meanwhile, the profiles of grinding wheels which are used to manufacturing the shaper cutter will also be developed based on the grinding mechanism. Moreover, the design, manufacturing, assembly and testing of a HD tester will also be conducted and finished in the first year. The performance of the self-designed HD and off-the shelf HD will be tested on the HD tester. The experimental results will also be compared with those from FEA simulation. The methodology and process of computer-aided optimization of novel HD design and HD experiments are believed to be beneficial for improving the design and manufacturing ability for domestic industry.
