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本研究では，差動機構としてニーズが高まりつつある遊星歯車機構に関して，回転伝達メカニズムの解明および振動騒音の低減にむけた駆動特性の解明を目的に体系的に研究をおこなった．軽負荷な回転伝達系としての差動遊星歯車機構を扱い，座標系や記号，瞬間中心の定義に基づき，PLC制御を用いた再現性の確保された試験機を用いて評価をおこない，Bond graphを用いたシミュレーション，ハイスピードカメラを用いた過渡応答の観察，および異なる歯面精度を組みあわせた振動騒音への影響の考察をおこなった． / 博士(工学) / Doctor of Philosophy in Engineering / 同志社大学 / Doshisha University

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Le travail présenté dans ce mémoire porte sur l'étude, l'optimisation et la réalisation d'une transmission planétaire magnétique. Dans notre thèse nous essayons de répondre à quelques questions intéressantes sur la possibilité de remplacer un train planétaire mécanique par un train planétaire magnétique, est-ce que la formule de Willis reste valable pour le train planétaire magnétique et est-ce que les trains magnétiques ont des performances similaires à celles des trains mécaniques ? Donc nous étudions, le remplacement du train mécanique par une transmission magnétique. Nous montrons que le train magnétique a un volume moindre, des pertes inférieures et plusieurs autres avantages. Notre but dans cette thèse est d'obtenir un "design" optimal d'un train magnétique. Nous utilisons un logiciel de calcul par éléments finis pour l'étude électromagnétique et nous cherchons également à optimiser les dimensions de ce train. Pour cela nous utilisons la méthode d'optimisation par essaim de particules (OEP). Un prototype a été réalisé ce qui permet de confronter les résultats de simulation et expérimentaux. / The work presented in this thesis deals with the study, the optimisation and the realisation of a magnetic planetary transmission. We try to answer some questions about the possibility of replacing the mechanical planetary gear used in industrial machines by a magnetic planetary gear; is the formula of Willis still valid for the magnetic planetary gear and are the magnetic planetary gear performances at least similar to ones of the mechanical gears? We study the replacement of the mechanical planetary gear by a magnetic one. We show that the magnetic one has a smaller volume, lower losses and many other benefits. The objective of this work is to obtain an optimum design of a magnetic planetary gear. We use a finite element software to study the magnetic behaviour of the device and we also perform the optimization of the dimensions of the magnetic planetary gear. The particle swarm optimization method (PSO) has been used. A prototype has been built so the computation results has been compared to the experimental ones.

Lately the discussion on how big impact vehicles has on the environment has grown bigger and bigger. The vehicle manufacturers are building cars, trucks, and wheel loaders etc. that are getting more and more fuel efficient for every year. But where do the engineers at the companies make the improvements? The drive train is one area of the vehicle where many different sources of losses are found. The gearbox is one example, where the losses are both dependent and independent on the torque transferred by the gear pairs. The gearbox consists of several components that all of them contribute to the total system power loss. It is therefore of great interest to understand the magnitude of the losses in the gears, for different operating conditions, and also to be able to determine how they change with, for instance, rotational speed, oil viscosity. The goal of the master thesis was to make a study about the oil churning losses in a 6 speed automatic gearbox. This model makes use of calculations which were based on scientific experiments. This makes the loss calculations more advanced and accurate than the generalized formulas in most commercial software’s. This model takes into account only the oil churning and oil pocketing losses and shall not hold account for the windage losses or the other losses such as losses occurring due to bearings, seals, pumps etc. Due to time constraint a user friendly programme could not be written but the generated programme can be modified to make it easier for the user to input the data and produce results. All gears are modelled in simple modules built using MATLAB m-codes. Assumptions are made in the code when it came to choosing the oil viscosity. / På senare år har diskussionen om fordonens miljöpåverkan blivit allt mer intensiv. Fordonstillverkarna bygger bilar, lastbilar, hjullastare, etc., vars bränsleeffektivitet årligen når nya höjder. Var finns utrymme för förbättringar? Drivlinan är en del av fordonet där många olika förlustkällor påträffas; t.ex. växellådan, där förlusterna både är beroende och oberoende av det vridmoment som överförs av kugghjulsparen. Växellådan består av ett flertal komponenter som bidrar till systemets totala effektförlust. Det är därför av stort intresse att förstå omfattningen av förlusterna i kugghjulen, för olika driftsförhållanden, och att kunna bestämma hur förlusterna är relaterade till t.ex. rotationshastighet och oljeviskositet. Målet med examensarbetet var att göra en undersökning om oljeskvalpförluster (”oil churning losses”) i en 6-växlad automatlåda. Modellen använder beräkningar baserade på vetenskapliga experiment. Detta gör förlustberäkningarna mer avancerade och exakta än de allmänna formler som de flesta kommersiella programvaror nyttjar. Modellen tar endast hänsyn till oljeskvalpförluster och oljeficksförluster (”oil pocketing losses”) och tar icke hänsyn till vindförluster eller andra förluster såsom lagerförluster, friktion i tätningar, pumpförluster, etc. På grund av projektets tidsramar har förfiningen av programmets användargränssnitt prioriterats lågt; vid behov kan detta åtgärdas för att förenkla input och output av data. Alla kugghjul modelleras i enkla moduler som byggts som MATLAB-skript. Antaganden görs i koden när det gäller oljans viskositet .

Offshore oil production presents major challenges due to extreme environmental conditions. With present state of the art robotics, precision mechanics and automation it is now possible to provide solutions to those working conditions. The present work is part of a solution to the problem of the unblocking a subsea oil pipeline of small diameter and extensive length by designing and manufacturing a robot capable of moving inside the pipeline. Based on the previous study of an interdisciplinary group, the implementation of an umbilical cable was defined with the purpose of assuring the supply of electrical power for the robot’s energy requirements, control signals and a mechanical link to avoid the possibility of getting stuck. Similarly, the robot's movement strategy was defined based on a high reliability mechanism, capable of overcoming the great tension resulting from the interaction of the long umbilical cable with the inside of the pipe. In this work, the mechanical design is performed to implement a robot capable of overcoming big cable tensions with small components, integrating commercial components and others custom made. A solution was implemented to convert the electric power received through the cable to the mechanical power in the form required by the displacement mechanism. For this, a detailed engineering design is presented that integrates a high performance electric motor, a two-stage planetary gear transmission for high reduction ratio, a power split transmission driven by disc clutches and a mechanical power distribution stage required by the mechanism responsible for the displacement. / La producción de petróleo offshore presenta grandes desafíos por las condiciones en que se lleva a cabo, actualmente es posible darle solución con la ayuda de la robótica, la mecánica de precisión y la automatización. El presente trabajo es parte de una solución al problema de la desobstrucción en una tubería de petróleo submarina de pequeño diámetro y largo tendido mediante el diseño y la construcción de un robot capaz de trasladarse por el interior de la misma. En base al estudio previo de un grupo interdisciplinario se definió la implementación de un cable umbilical con el propósito de asegurar el suministro de potencia eléctrica para los requerimientos de energía de robot, el enlace de señales destinadas al control y un vínculo mecánico para proveer seguridad ante un eventual desperfecto. Similarmente se definió la estrategia de movimiento del robot en base a un mecanismo de alta confiabilidad, capaz de vencer una gran tensión producto de la interacción del largo cable umbilical con el interior de la tubería. En este trabajo se realiza el diseño mecánico para implementar un robot capaz de realizar grandes esfuerzos con componentes de tamaño reducido, integrando componentes comerciales y otros hechos a medida. Para ello, se implementó una solución para convertir la potencia eléctrica recibida a través del cable a la potencia mecánica en la forma requerida por el mecanismo que da lugar al movimiento. Para dicha solución se presenta un diseño detallado que integra un motor eléctrico de alto desempeño, una transmisión planetaria reductora de dos etapas, una transmisión inversora accionada por embragues de discos y una etapa de distribución de potencia mecánica requerida por el mecanismo responsable del movimiento.