馬達的發明帶動了自動化工業的發展，如今更廣泛的被應用在各種動力需求的場合。為了有效的應用馬達的動力輸出，齒輪減速機構常用來與馬達進行搭配，但兩者的設計與製造是獨立進行再依所需功能進行選配，造成系統組成元件增加、動力傳輸路徑較長、能量在傳遞的過程產生多餘的損失、以及整體安裝空間較大等缺點，因此將馬達與減速機有效整合以解決上述缺點成為值得研究的目標。本研究以混合型步進馬達與行星齒輪系減速機做為整合對象，首先針對混合型步進馬達與行星齒輪系減速機的構造特性與運動原理進行探討，並歸納整合裝置的設計需求與限制，從中發想整合設計概念。接著，針對行星齒輪系的構形、齒形、齒數、速比、干涉情形、以及負載強度進行細部設計與分析。另，有關電磁場設計與分析部分，分別利用等效磁路法與有限元素法解析馬達的電磁場特性與輸出特性，並將其結果進行相互驗證；其後，以二次插值最佳化方法對馬達定轉子幾何構形進行細部最佳化設計，得到符合設計需求的最佳電磁參數組合。此外，提出一套系統化的整合設計流程，有效的進行混合型步進馬達與行星齒輪減速機的整合設計，同時藉由一現有的兩相混合型步進馬達做為整合設計實例，設計出一可行的創新整合裝置構形。最後，將所提出的整合裝置構形與現有設計進行輸出特性比較，分析結果顯示整合裝置在輸出轉矩、握持扭矩部分皆保持與現有設計相同水準，同時提升轉矩密度4.4%、降低轉矩漣波44.7%與節省軸向空間5.2%。

The invention of electric motors promotes the development of automotive industries. Nowadays, electric motors have been widely used as power sources in various applications. Electric motors usually combine with gear reducers for the sake of providing desired power output with the highest efficiency. However, the motors and the reducers are designed and manufactured independently, then combined within expect functions, which causes several disadvantages like redundant mechanical elements usage, long power transmitting paths, extra power loss, and incompact workspace arrangement. Therefore, integrating motor and reducer properly becomes a worth research topic. This study proposes an integrated device, which combines the hybrid stepping motors (HSM) and planetary gear train (PGT) reducer with desire function. Firstly, an integrated design concept is generated from the concluded design requirements and constraints based on the detail survey of the configurations and kinematic structures of HSM and PGT reducer. Afterwards, detail design and analysis of PGT reducer are executed including configuration design, gear profiles design, teeth number design, reduction ratio design, interference analysis, and gear strength analysis. To the electromagnetic analysis of HSM, two general methods are introduced to analyze the electromagnetic characteristics and the output performance, including equivalent magnetic circuit analysis (EMCA) and finite element analysis (FEA). EMCA results are compared with that of FEA, and both results validate each other. Moreover, quadratic interpolation method is applied to the optimal design of the geometric configuration of HSM. Furthermore, a systematically design process is developed to implement the integrated devices in an efficiently way. Meanwhile, an existing two-phase hybrid stepping motor is used as a design example. Finally, a comparison of output performance between the existing design and the integrated design is made. The results show that the output torque and holding torque are about the same level, and the torque density and torque ripple improve about 4.4% and 44.7%, respectively. Moreover, the integrated device also reduces 5.2% on the axial space arrangement.

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