諧波減速機具有減速比高且體積小之優點，應用於航太、自動化機械、醫療等產業，其中，諧波齒輪扮演著影響性能的重要角色，故本文將針對諧波齒輪之齒形，提出新穎之 ETE (Ellipse arc-Tangent line-Ellipse arc)諧波齒輪齒形設計方法，此齒形設計方法涵蓋 CTC (Circular arc-Tangent line-Circular arc)齒形齒廓但不限於此，故可使齒形之設計更具彈性，進而有效改善諧波減速機之傳動性能，並應用 FEM-MBD (Finite Element Method- Multi-Body Dynamics)雙向耦合模擬各齒廓參數之傳動誤差及柔輪齒面應力，比較其性能差異。考量到諧波齒輪加工方法，因強力刮齒加工方法具有高加工效率且能夠加工內齒輪及外齒輪之優點，故本文將應用強力刮齒作為加工方法，其中，強力刮齒刀具將由諧波齒輪齒廓反推出強力刮齒刀齒廓，即可使用此刀具切出理想之諧波齒輪，並考量強力刮齒刀具之齒形加工，亦從強力刮齒刀齒廓反出滾齒刀之截面齒廓，即可應用成熟之滾齒刀技術加工出強力刮齒刀理想齒形，本文考量到機台加工之運動，建立強力刮齒刀加工諧波齒輪之數學模型，並由調整齒條刀之齒廓參數進行齒廓冠狀修整，以及調整機台運動參數達成齒長方向之修形。最後，本文將通過數值範例將驗證強力刮齒加工數學模型之正確性，並比較 CTC 與 ETE 之模擬結果。;Harmonic drive is a compact and high gear reduction ratio used in industries such as aerospace, automation, medical etc. The harmonic gear is the key component influencing the performance. Therefore, this paper proposes a novel tooth profile design method called ETE (Ellipse arc-Tangent line -Ellipse arc) tooth profile for harmonic gears. This design method includes the CTC (Circular arc-Tangent line-Circular arc) tooth profile, as the circle is a special case of ellipse. This design approach enhances the flexibility of tooth profile design, effectively improving the transmission performance of the harmonic drive. In this study, the FEM-MBD (Finite Element Method-Multi-Body Dynamics) simulation is used to analyze the transmission errors and flex spline tooth surface stresses of various tooth profiles to evaluate performance differences. Due to the high efficiency and the capability to process both internal and external gears, power skiving was chosen as the production technology for harmonic gears. The power skiving tool is derived from the tooth profile of the harmonic gear, enabling the production of ideal harmonic gears using this tool. Furthermore, considering the tooth profile generation of the power skiving tool. The cross-sectional profile of the hob is derived from the tooth profile of the power skiving tool, enabling the production of ideal power skiving profile using this tool. The paper describes the machine tool motion for power skiving in the gear manufacturing process. The tooth profile parameters of the hob are adjusted to achieve crowning along the tooth profile direction, and the machine tool motion parameters are adjusted to modify the tooth length direction. Finally, numerical examples in this paper will verify the accuracy of the mathematical model for power skiving and compare the simulation results between CTC and ETE tooth profiles.
