變速機構之創新設計

變速機構包括減速與增速傳動，相當廣泛應用於機器人工業、醫療產業、汽車工業、航太工業等。隨著高精密、高速比、高強度之需求，國內發展變速機構已無法滿足機器人產業殷切需求，因此需要積極創新研發。本研究之主要目的在於突破世界所有專利產品，合成出具有世界市場潛力的創新產品，首先以創意性機構設計方法，加上少齒差、多偏心及多層串聯設計構想。首先以日本專利Nabtesco之RV-20E作為存在設計，根據拓樸特性將此機構進行一般化，其次以數目合成理論繪出所有運動鏈圖譜，可合成出16種五連桿變速機構，35種六連桿機構，70種七連桿機構，116種八連桿機構.，然後根據設計需求與限制將所需的連桿及接頭類型指定到每一個一般化鏈上，將特殊化的構型進行具體化，藉由一般化規則反推來完成，並剔除全世界各種變速裝置之專利，接著推導出傳動比及尺寸合成，以多層齒輪具有低傳動誤差之特性，多層設計從具體化中挑選出據此設計之機構。利用CAD的繪製出實體模型，使用Abaqus有限元素分析軟體對新型連續曲線分析接觸應力、接觸面積、彎曲應力分析出最佳化齒形參數。

關鍵字

變速機構；少齒差；多偏心；機器人；齒形

並列摘要

The variable speed mechanism includes reduction and increase transmission, is widely used in the robotics industry, medical industry, automotive, aerospace industries. With the demand for high-precision, high-speed ratio, high strength, the domestic variable speed mechanism have been unable to meet the robot industry's strong demand, requiring active and innovative research and development. The main purpose of this study is to break all the world's patent products, synthetic inventive products with global market potential, first of all, the use of creative mechanism design approach coupled with small teeth difference, muti-eccentric and multi-series design concept. First, Japanese Patent Nabtesco's RV-20E as an exist design. The atlas of generalized kinematic chains can be obtained founded on the concepts of generalization and number synthesis. Through specialization, a generalized kinematic chain is converted to a specialized chain. A specialized chain subject to design constraints is called a feasible specialized chain. The atlas of specialized chains could be particularized into the corresponding schematic diagrams through the process of particularization. All the kinematic chain can be synthesized by a five-link transmission mechanism 16 kinds, 35 kinds of six links, 70 kinds of seven links, 116 kinds of eight links. Use CAD software to establish a solid model and use ABAQUS finite element software on the new continuous curve for contact stress, contact area, bending stress analysis of the optimal parameters of the tooth profile.