| 摘要: | 在全球工業4.0興起的年代，帶起了許多自動化設備與機器人的發展，其中又以諧波減速機在工業設備中佔有著舉足輕重的地位，因為諧波減速機具有輕量化、減速比高、體積較小等優點，且可以產生較大的扭力，非常適合用於機械手臂與機器人中。在航太設備、醫療設備等產業也被廣泛的運用。然而，諧波減速機在齒形及傳動性能設計上佔了非常重要的一環，其中，傳動性能的指標包含扭轉剛性、遲滯損失、傳動誤差等。
本研究之目的為進行禮帽型諧波齒輪之傳動性能分析與實驗驗證，首先進行諧波齒輪數學模型的建立，並根據合作公司所逆向提供的諧波齒輪模型進行FEA (Finite Element Analysis)，考量了波產生器柔性軸承的變形，藉由FEA分析出諧波齒輪的扭轉剛性、遲滯損失、傳動誤差、齒面接觸應力等，並探討諧波齒輪在波產生器為剛體及考慮柔性軸承下，齒面接觸應力、扭轉剛性及遲滯損失的性能差異，後面再透過與合作廠商協同建立的諧波齒輪實驗平台，進行扭轉剛性及遲滯損失的性能量測，將廠商試做的諧波齒輪產品與日本HDS(Harmonic Drive System)的產品進行性能上的比較，並將實驗量測結果與FEA分析結果進行比對，進而驗證FEA模型的合理性，最後將自行設計一組諧波齒輪齒形來進行優化分析，並針對柔輪齒長方向進行齒向修整，該齒形可以有效的提高諧波齒輪的扭轉剛性、接觸率及降低遲滯損失，並且可以降低齒面接觸應力，提升諧波齒輪的傳動性能。;In the era of global Industry 4.0, the development of many automated equipment and robots has been spurred, among which harmonic reducers play a significant role in industrial equipment. Harmonic drive are favored for their advantages of lightweight, high reduction ratio, small size, and ability to generate large torque, making them highly suitable for use in robotic arms and robots. They are also widely used in industries such as aerospace equipment and medical devices. However, the design of tooth shape and transmission performance in harmonic reducers is crucial, with transmission performance indicators including torsional stiffness, hysteresis loss, backlash, transmission error, etc.The purpose of this study is to analyze and experimentally verify the transmission performance of silk hat-type harmonic drive. Firstly, a mathematical model of harmonic gears is established, and Finite Element Analysis (FEA) is conducted based on the reverse-provided harmonic drive model from a collaborating company, considering the deformation of the wave generator flexible bearing. Through FEA analysis, the torsional stiffness, hysteresis loss, backlash, transmission error, and tooth contact stress of the harmonic drive were determined. The performance differences between rigid body wave generators and flexible bearings in terms of tooth surface contact stress, torsional stiffness, and hysteresis loss will also be explored. Finally, using the harmonic drive experimental platform co-established with the partner company, we will measure the performance of torsional stiffness and hysteresis loss. The performance of the harmonic drive products developed by the partner company will be compared with those from Japan′s HDS (Harmonic Drive System). The experimental measurement results will be compared with the FEA analysis results to verify the rationality of the FEA model.
Finally, a harmonic drive tooth profile will be designed and optimized, with axial modification along the length of the flexspline tooth. This tooth profile can effectively enhance the torsional stiffness and contact ratio of the harmonic drive, reduce hysteresis loss, decrease contact stress on the tooth surface, and improve the transmission performance of the harmonic drive. |
