諧波齒輪裝置之波產生器安裝位置研究與專利地圖分析

諧波齒輪(Harmonic Drive, HD)為50年代中期發展的一種新型傳動技術，發展至今已成為現今機械產業中的重要零件之一，由於其結構簡單、體積小、重量輕、傳動比大的特性，在精密機械的產業中需求均大，如機器手臂、航太雷達定位、半導體設備等，在機器人、自動化產業的需求及市場規模不斷擴大的趨勢下，進而帶動機器人關鍵零組件之諧波減速機的需求增加，目前國內對於諧波減速機的研究及開發已累積豐富的技術能量，逐步突破技術瓶頸並朝向自主化發展，本文透過諧波減速機的專利地圖分析，說明目前技術發展及專利申請現況，提供未來規劃專利之策略佈局與方向，而對於諧波齒輪傳動的設計，本文透過模擬軟體建立諧波齒輪傳動的三維有限元素分析模型，分析波產生器的軸向安裝位置對於諧波齒輪的應力分佈、啟動扭力及振動之影響，可作為未來諧波齒輪設計參考。

關鍵字

波產生器；諧波齒輪；專利地圖

並列摘要

Harmonic drives became a new type of transmission technology in middle of the 50s. Due to its small size and high gear ratio, harmonic drives have great potential in global machinery markets, such as robotic arms, aeronautical radar positioning and semiconductor equipment. With the increasing market of robots and automation industries, and the demand for the key components, the advantages harmonic drives have increased. At present, domestic industries have put lots of effort and have abilities in designing and manufacturing harmonic drives components. The purpose of this research is focused on analysing the patent map of harmonic drive to find the optimal design. From the patent map, it could help us plan the strategy for patenting. For the design process, we model a complete three-dimensional finite element on harmonic drives to analyze the stress, torque and vibration of different installation position of wave generator.