超磁致伸缩谐波电机致动器设计方法与特性研究

doi:10.3901/JME.2018.22.204

机械工程学报 ›› 2018, Vol. 54 ›› Issue (22): 204-211.doi: 10.3901/JME.2018.22.204

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超磁致伸缩谐波电机致动器设计方法与特性研究

朱林剑¹, 曹向峥¹, 陆玉前²

1. 大连理工大学数字化设计研究所大连 116024;
2. 奥克兰大学机械工程系奥克兰 1010 美国

收稿日期:2017-11-18 修回日期:2018-04-25 出版日期:2018-11-20 发布日期:2018-11-20
通讯作者: 曹向峥(通信作者),男,1993年出生,硕士研究生。主要研究方向为新型传动设计及机构动力学。E-mail:keven_cxz@163.com
作者简介:朱林剑,男,1960年出生,副教授,硕士研究生导师。主要研究方向为新型传动及康复工程。E-mail:zlj@dlut.edu.cn
基金资助:
国家自然科学基金资助项目（51275069）。

Design Method and Characteristics Study on Actuator of Giant Magnetostrictive Harmonic Motor

ZHU Linjian¹, CAO Xiangzheng¹, LU Yuqian²

1. Institution of Digital Design, Dalian University of Technology, Dalian 116024;
2. Department of Mechanical Engineering, the University of Auckland, Auckland 1010 USA

Received:2017-11-18 Revised:2018-04-25 Online:2018-11-20 Published:2018-11-20

摘要/Abstract

摘要： 针对普通谐波齿轮传动需由电机经波发生器输入运动和动力，空间利用率低、惯性大、高速响应差的问题，提出一种由超磁致伸缩材料驱动的有源谐波电机。致动器作为谐波电机动力源及换能装置，对其磁场强度、均匀性、漏磁及空间限制等均有严格要求，据此提出分段内置式永磁结构布局，充分利用空间并改善均匀性；通过对偏置磁场和驱动磁场强度及均匀性影响因素研究，优化致动器参数；随后利用有限元法建立致动器模型并对磁场特性仿真分析；根据优化结构研制出超磁致伸缩谐波电机致动器样机，并对其输出特性试验研究。理论分析与试验结果表明，分段内置式永磁结构漏磁极小，所提出的设计理论和方法，保证了磁场强度和均匀性的同时也保证了致动器工作在准线性范围内，输出规律符合啮合要求，易于实现精准控制，为超磁致伸缩谐波电机走向实际应用奠定了基础。

关键词: 超磁致伸缩谐波电机, 分段内置偏置磁场, 均匀性, 致动器

Abstract: The common harmonic gear drive must be input motion and power by the motor and wave generator, which being low space efficiency, large inertia and poor response, therefore, an active harmonic motor driven by giant magnetostrictive material is proposed. Actuator, as the power source and energy conversion device of harmonic motor, has strict requirements for magnetic field intensity, uniformity, magnetic leakage and space restriction. Accordingly, a structure layout of bias magnetic field produced by segmentally built-in permanent magnet is put forward, which could make full use of space and improve uniformity. The main parameters of actuator are designed, and then of further optimization is carried out by analyzing the influence factors on intensity and uniformity of bias and driving magnetic field. Based on the optimized results, the actuator is modeled and manufactured, thereafter, its magnetic field characteristics of actuator are simulated and analyzed by finite element method (FEM), and the output characteristics are verified by experiments. It shows that structure composed of segmentally built-in permanent magnet has few magnetic leakage, moreover, the proposed design theory and method not only guaranteed the magnetic field intensity and uniformity, but also make the actuator working in a linear range, the law of output meeting the requirements of gearing, and easier to control accurately, which lays the foundation for the practical application of giant magnetostrictive harmonic motor.

Key words: actuator, giant magnetostrictive harmonic motor, segmentally built-in bias magnetic field, uniformity

中图分类号:

TM359

朱林剑, 曹向峥, 陆玉前. 超磁致伸缩谐波电机致动器设计方法与特性研究[J]. 机械工程学报, 2018, 54(22): 204-211.

ZHU Linjian, CAO Xiangzheng, LU Yuqian. Design Method and Characteristics Study on Actuator of Giant Magnetostrictive Harmonic Motor[J]. Journal of Mechanical Engineering, 2018, 54(22): 204-211.

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超磁致伸缩谐波电机致动器设计方法与特性研究

Design Method and Characteristics Study on Actuator of Giant Magnetostrictive Harmonic Motor

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