关键词: 磁悬浮球形主动关节, 电磁转矩特性, 感应式, 位移特性, 悬浮力特性

Abstract: The multi-degree-of-freedom inductive spherical driving joint owns high mechanical integrity and has advantages such as control and trajectory planning. Because of its limit of rotor pose, instant stepping angle and inability to spin around any axis through center of sphere, the suspension and rotation precision of spherical reluctance driving joint isn’t high and the response speed can’t reach the best. Based on mechanism of rotation and suspension, due to distribution of air gap magnetic induction intensity, a novel inductive active maglev spherical driving joint is presented, and electromagnetic suspending force and electromagnetic torque are established. The magnetic induction intensity, electromagnetic suspending force and electromagnetic torque are analyzed through finite element simulation, a bench test of active maglev spherical driving joint is built, and displacement characters and suspension and rotation characters of joint rotor are studied.

Key words: active magnetic levitation spherical reluctance driving joint, displacement character, electromagnetic torque character, inductive, suspending force character