諧波齒輪之動態響應
作者：傅銘田
畢業學校：國立中山大學
出版單位：國立中山大學
核准日期：2000-07-18
類型：
權限：Copyright information available at source archive--National Sun Yat-sen University....
中文摘要
本文主要在探討諧波驅動器系統在不同運轉速度下之動態響應，文中就數值模擬與實驗驗證兩方面，探討諧波驅動器中彈性齒杯的扭轉剛度、扭轉阻尼與系統輸出、輸入端組件( 轉軸與聯軸器 )對系統動態響應的影響。於理論分析過程中，主要利用拉格朗日方程( Lagrange’s equation )配合各組件特性，建立系統運動方程，再利用藍日卡達法( Runge-Kutta method )數值解析方法求解此系統之動態響應。於實驗量測分析上，配合自行設計的模組式系統測試台，經由實驗量測與理論模擬結果進行比較分析，驗證文中數值解析模式之正確性與可行性。
英文摘要
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摘要 i
目錄 ii
圖目錄 iv
表目錄 ix
符號說明 x
第一章 緒論 1
1-1 前言 1
1-2 文獻回顧 5
1-2-1 設計製造方面之研究 5
1-2-2 齒輪嚙合方面之研究 5
1-2-3 動態分析與控制方面 6
1-3 章節與組織 8
第二章 諧波驅動器系統之數學模式推導 9
2-1 諧波驅動器系統之數學模式推導 9
2-1-1 諧波驅動器簡化模式 9
2-1-2 系統運動方程式推導 13
2-2 諧波驅動器系統動態參數分析 17
2-2-1 各轉軸之扭轉剛度 17
2-2-2 諧波驅動器之剛度估算 19
2-2-3 系統組件參數動態抽取與實驗量測 21
2-3 系統運動方程分析—數值解析 27
2-3-1 穩態響應之解析 27
2-3-1 暫態響應之解析 29
第三章 系統理論模擬與實驗驗證 30
3-1 諧波驅動器系統測試台之設置 30
3-1-1 實驗台簡介 30
3-1-2 實驗台各模組說明 31
3-2 系統組件動態參數抽取與量測結果 40
3-3 理論與實驗結果之分析與比較 46
3-3-1 系統之穩態響應分析 46
3-3-2 諧波驅動器在不同加速條件之系統暫態響應 58
3-3-3 諧波驅動器定位精度分析 72
第四章 結論 81
附錄A 二階微分方程降階處理 82
附錄B 加速度計串並聯用於組件動態參數量測 84
參考文獻 94
