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研究生： 蔡武融
Tsai, Wu-Jung
論文名稱： 變轉速平板凸輪機構運動及動力設計研究
On the Kinematic and Dynamic Design for Variable-Speed Plate Cam Mechanisms
指導教授： 顏鴻森
Yan, Hong-Sen
學位類別： 博士
Doctor
系所名稱： 工學院 - 機械工程學系
Department of Mechanical Engineering
論文出版年： 2009
畢業學年度： 97
語文別： 英文
論文頁數： 124
中文關鍵詞： 轉速軌跡 、運動設計 、接觸 、扭矩波動 、從動件 、機構 、變轉速
外文關鍵詞： speed trajectory, contact force, torque fluctuation, follower separation, variable speed, kinematic design, cam mechanism
相關次數： 點閱：203  下載：3 
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    • 傳統上，若要改變凸輪機構之輸出運動與動力特性，必須重新設計與製作凸輪輪廓；變轉速凸輪機構，在不改變凸輪輪廓曲線的狀況下，可藉由轉速的控制而彈性改善或調整輸出特性，提供一種可行的替代方法。另外，此種方法在少量多樣的生產場合，可針對不同生產條件，彈性調整出合適的輸出運動與動力特性；在機器的開發階段，此種方法亦提供弁鉬搢D的彈性調整空間。本研究以使用最為廣泛的平板凸輪機構為研究對象，逐步建立其變轉速輸入之運動與動力設計的方法，實現改變轉速以彈性改善需求特性的目的。
    首先，發展平板凸輪機構的變轉速運動分析模式，以為運動與動力設計的基礎。使用Bezier函式代表凸輪轉速軌跡，並探討軌跡連接處的運動連續性關係式，以建立針對整個凸輪運轉週期的轉速軌跡表示方法。接著進行運動設計，發展改善輸出運動特性及調整輸出運動規格的設計方法，並運用於取放裝置及鈑金沖床的運動規格調整。在動力設計方面，則包含改善凸輪與從動件間接觸力特性、減低凸輪扭矩波動、及防止從動件脫離現象的轉速軌跡設計方法。對於每一個設計模式，皆以設計實例說明設計過程及進行設計結果討論。在理論驗證實驗方面，則建立一套量測平面凸輪相關運動與動力特性參數的實驗裝置與測試方法。以扭矩模式控制伺服馬達輸出設計轉速軌跡，動態收集與分析相關特性數據，用以驗證所建立理論模式的可行性及展示變轉速平板凸輪的弁遄C
    本研究所建立的設計模式，經設計實例探討，顯示可有效的調整或改善變轉速平板凸輪機構的運動與動力特性。而實驗的結果，則進一步驗證設計理論模式在實際應用的可行性。

    Traditionally cam mechanisms need to be redesigned and remade to achieve different output kinematic and dynamic characteristics. Without modifying the cam contour, variable-speed cam mechanisms offer an alternative to flexibly improve or regulate these output characteristics by controlling the input speed. Additionally, in small-batch and diversified production, this method can adapt the output kinematic and dynamic characteristics to the varied production requirements. During machinery developments, this method also provides the room for quick design revisal. To implement the variable speed strategy for improvements of required characteristics, this work progressively develops kinematic and dynamic design approaches with variable input speeds for the most widely applied plate cam mechanisms.
    Kinematic analysis models for variable-speed plate cam mechanisms are constructed as the infrastructure for the subsequent kinematic and dynamic designs. After Bezier functions are employed to represent the cam speed trajectories and motion continuity conditions at trajectory conjunctions are investigated, cam speed expressions for the entire cam rotation cycle are established. Then the kinematic design is researched to develop the design models for motion characteristics refinement and motion specification adaptation, which are also applied to motion specification adaptations of a pick-and-place and a metal-sheeting forming device. The dynamic design contains the design models for improving the contact force characteristics, reducing the cam torque fluctuation, and preventing the follower separation phenomenon. Design examples are provided for each design models to illustrate the design processes, and the design results are discussed. Finally, to verify these design models, an experimental setup and testing methods are established. The design speed trajectory is provided by a servomotor controlled in the torque mode. Data of related characteristics are dynamically measured and then analyzed to verify the design models as well as to demonstrate the performances of variable plate cam mechanisms.
    The outcome of design examples indicate that the design models proposed do effectively adjust or refine the kinematic and dynamic characteristics of variable-speed plate cam mechanisms. The experimental results further prove the feasibility of the design models in their practical applications.

    摘要(ABSTRACT in Chinese) I ABSTRACT II ACKNOWLEDGEMENTS III TABLE OF CONTENTS IV LIST OF TABLES VIII LIST OF FIGURES IX NOMENCLATURES XII Chapter 1 INTRODUCTION 1 1.1 Motivation 1 1.2 Literature Review 3 1.3 Objectives 5 1.4 Dissertation Organization 6 Chapter 2 MOTION ANALYSIS 9 2.1 Normalized Motion Relations 9 2.2 Cam Speed Trajectories 11 2.3 Complete Motion Cycle 14 2.3.1 Motion design based on separate motion segments 15 2.3.2 Motion design based on a complete revolution 17 2.4 Boundary Continuities 20 2.4.1 Motion continuities for adjacent speed trajectories 21 2.4.2 Motion continuities for a complete cam cycle 22 2.5 Summary 22 Chapter 3 KINEMATIC DESIGN 24 3.1 Output Motion Improvement 24 3.2 Output Motion Adaptation 26 3.2.1 Adaptation to required motions 26 3.2.2 Adaptation of period times 27 3.3 Design Examples 30 3.3.1 Example 3-1: Motion adaptation with period times unchanged 31 3.3.2 Example 3-2: Motion adaptation with period times adjusted 39 3.4 Summary 44 Chapter 4 FORCE IMPROVEMENT DESIGN 48 4.1 Force Analysis 48 4.2 Contact Force Reduction 52 4.3 Torque Fluctuation Alleviation 54 4.4 Design Examples for Contact Force Reduction 56 4.4.1 Example 4-1 56 4.4.2 Example 4-2 60 4.5 Design Examples for Torque Fluctuation Alleviation 62 4.5.1 Example 4-3 64 4.5.2 Example 4-4 67 4.6 Summary 71 Chapter 5 CAM-FOLLOWER SEPARATION PREVENTION 72 5.1 Cam-follower Separation Equations 72 5.2 Cam-follower Separation Improvement 74 5.3 Design Examples 76 5.3.1 Example 5-1 76 5.3.2 Example 5-2 81 5.4 Summary 82 Chapter 6 EXPERIMENTAL VERIFICATION 85 6.1 Experimental Setup 85 6.1.1 Cam-follower system 86 6.1.2 Other hardware 88 6.1.3 Software 94 6.2 Cam Speed Control 96 6.2.1 System identification 97 6.2.2 Controller design 98 6.3 Results and Discussions 101 6.3.1 Motion adaptation 103 6.3.2 Contact force reduction 103 6.3.3 Input torque fluctuation alleviation 104 6.4 Summary 108 Chapter 7 CONCLUSIONS AND SUGGESTIONS 109 7.1 Conclusions 109 7.2 Suggestions 111 REFERENCES 114 VITA 122 自述(VITA in Chinese) 123 COPYRIGHT STATEMENT 124

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