波形產生器對諧波齒輪性能影響之有限元素分析

Abstract

諧波齒輪(Harmonic Drive, 或簡稱HD)因其傳動比高、扭力大、體積小、重量輕的特性，為現今機械產業中的重要零件之一，在精密機械產業中需求大，如機器人、手臂、航太雷達定位、半導體設備等等，然而目前國內對諧波齒輪的研究相較於歐、美、日等國家仍有一段距離，生產出的產品其壽命及耐用性較低，大部份需仰賴進口。 本研究建立諧波齒輪之三維有限元素分析模型，利用Abaqus有限元素分析軟體來探討諧波齒輪各零件受到的應力與形變，並針對波形產生器結構產生做研究分析，透過合作公司的實驗進行比對，確認了本研究三維模型之準確性。而對整體諧波齒輪之優化，本研究更改零件之裝配位置與尺寸，增加其扭轉剛性、減少軸承軌道應力以及柔輪和剛輪的嚙合區域改變，進而建立完整可靠之諧波齒輪三維分析模式，藉此提供國內自行設計諧波齒輪與優化之參考方向。

Harmonic Drive(HD) is an important part in modern mechanical engineering because of its compact size, light weight, high reduction ratios and high torque. It’s commonly used in precise machinery applications, for example, robot, robot arm, aerospace industry and semiconductor industry. However, the study about HD in Taiwan still can’t keep up with Japan, Europe and United States. HD produced in Taiwan are troubled by less fatigue life. As a result, the demands of HD is still rely on imports. The research built up a model of three-dimensional finite element analysis for HD. Finite element analysis software, Abaqus, was used to analyze the stress and deformation on HD. Special focus was put on the deformation of wave generator. By comparing to the experiment, we confirmed the accuracy of finite element analysis. Finally we analyze the contact pressure, the stress on flex spline and circular spline to create a more reliable three-dimensional finite element analysis model. Partially achieved aim is to simplify the experiments and improve the efficiency to design HD by this finite element analysis model.