馬達與齒輪減速機的搭配，廣泛應用在各類型動力應用的場合。現有設計通常是兩者分別設計與製造完成後再相互選配，存在動力的傳輸路徑較長、機器的組成元件較多、整體的安裝空間較大等固有缺點。本研究以行星齒輪系減速機與永磁式直流有刷馬達做為整合設計的對象，使其成為一體式的機電整合裝置，並從構造及功能方面構思整合設計方案。首先，依據直流有刷馬達及行星齒輪系減速機的構造特性與運動原理，歸納設計需求與限制，提出整合設計構想，並整合設計理論基礎。再者，建立一維等效磁路法之數值分析模型，以解析整合裝置的電磁特性與輸出性能，並配合有限元素分析法進行驗證。接著，說明齒輪系的設計方法，包含齒形、齒數、齒輪系構形、及齒輪強度，並提出一套有效的方法，大幅降低直流有刷馬達的頓轉扭矩及轉矩漣波，改善整合裝置的電磁與輸出特性，且可針對整合裝置的輸出特性進行分析。最後，提出一套整合設計流程，有系統的將直流有刷馬達之電磁場設計與行星齒輪系減速機的運動設計結合，並以現有設計為例，提出可行的整合裝置創新構形。由性能分析結果得知，該整合設計滿足原有設計的傳動能力，且頓轉扭矩、轉矩漣波，及軸向空間的使用，皆較現有設計有較佳的性能表現。

The combinations of electric motors and gear reducers are considered as typical examples of mechatronics, which are widely used in various power applications. The existing design strategy is to design electric motors and gear reducers independently and then integrate them within expected functions after manufactured. However, the inherent disadvantages are long power transmitting paths, redundant mechanical elements usage, and incompact workspace arrangements. This study proposes an integrated device which combines the permanent magnet DC commutator motors and planetary gear train (PGT) reducers with desired function. Based on the configurations of DC commutator motors and the kinematic structure of PGTs, the feasible design concepts and fundamental theories are successfully generated and applied subject to concluded design requirements and constraints. An one dimension equivalent magnetic circuit method is built to analyze the performances of device and is verified by the finite element analysis. The design methods for gear trains, gear profiles, numbers of gear teeth, and the gear strength are introduced. Furthermore, the feasible numbers of gear teeth for effectively reducing the cogging torque and torque ripple are presented, which improves the magnetic performances. Finally, a design process is developed to implement the integrated devices. A design example, which performs better on the cogging torque, torque ripple and the use of axial space, is illustrated.

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