目前市面上有許多廣為人知及受人信賴的齒輪量測專用機與三次元量床廠家，為因應機器手臂大量使用擺線齒輪減速機的需求，量測廠商開始著手擺線齒輪量測軟體開發。本論文主要致力於開發一套擺線齒輪掃描式量測系統，以現有五軸工具機作為實驗機台，並以Visual C#程式開發量測人機介面，整合海德漢(Hedienhan)控制器和掃描式感測器，來檢測擺線齒輪精度。
擺線齒輪精度評估項目包含節距和齒形誤差，由於擺線齒輪尚未成一套自有的量測精度評估標準，因此參考齒形較為相似的圓柱齒輪之精度評估標準DIN 3960 [8]做為擺線齒輪之誤差評估標準。其DIN標準量測項目包含齒形誤差、齒厚誤差、單齒節距誤差、鄰接節距誤差、累積節距誤差以及徑向跳動誤差等六項，依據DIN 3962 [9]建立精度評估等級資料庫，藉此來評估擺線齒輪誤差精度等級。線上量測系統建構於百德(QUASER)UX 300五軸工具機上，本論文首先建立擺線齒輪量測路徑數學模式，利用開發之量測軟體整合海德漢ITNC 530控制器進行機台量測監控，搭配波龍(Blum) TC-76三維掃描式探針於自行規劃之路徑進行量測，量測數據透過擷取盒轉換回傳至電腦內，並即時進行齒輪量測與精度評估。後續並將量測之精度結果與克林根貝格(Klingelnberg) P40齒輪量測機之量測結果進行誤差比對，以驗證本研究之數學模式與量測精確性。

Robotic arms are widely applied in manufacturing industries of automation, and cycloidal gear reducer is its key part. To meet the demand of measuring cycloidal gears, many well-known and trusted gear measuring machines and coordinate measuring machines have begun to develop measuring system for cycloidal gears. This paper aims to develop a scanning measurement system for cycloidal gears. A five-axis tool machine is here adopted as an experimental machine, the Visual C# is applied to develop the human-machine interface, and an integration of HEIDENHAIN CNC controller and a scanning sensor is developed to measure cycloidal gears.
Accuracy evaluations of cycloidal gear include pitch and tooth profile errors. However, up to now, an accuracy standard of cycloidal gears has not even seen. Measuring items of cycloidal gear refer standard DIN 3961 which gives the definition of tolerances for cylindrical gear teeth. In the DIN standard, there are six measuring items: profile error, tooth thickness error, single pitch error, adjacent pitch error, accumulative pitch error, and runout error. Accuracy grade of cycloidal gear is evaluated according to DIN 3962 which gives tolerances for cylindrical gear teeth. The online measurement system is built on the Quaser UX 300 five-axis machine tool. Here, the NC position for measuring the cycloidal gear is first derived. The developed measurement program integrates HEIDENHAIN ITNC 530 controller and BLUM TC-76 scanning probe. As a result, measuring process and position can be real-time monitored. The movement of scanning probe is under the commands of planned NC codes. The measurement data is converted through the data acquisition (DAQ) device and transmitted to the PC, and the gear measurement and accuracy evaluation are performed in real-time. Subsequently, the accuracy of the measurement is compared with the measurement result of the Klingenberg P40 gear measuring machine to verify the mathematical model and measurement accuracy.

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