关键词: 磁场, 磁性联轴器, 磁转矩, 数值计算, 仿人运动, 拟人臂, 逆运动学, 七自由度, 肘部自运动, 最小势能指标

Abstract: The structure parameters and the magnetic field circumstance of magnetic coupling have influence on the ability of magnetic torque of the magnetic coupling, as well as the efficiency and reliability of the magnetic pump set, so it is necessary to study the distribution of magnetic field and the parameters of magnetic coupling such as circular angle, magnetic poles, yoke iron thickness, air gap, etc deeply. By the basic principle of the design of the magnetic circuit, to investigate the distribution of magnetic field in magnetic couplings and the factors affecting the magnetic torque of the magnetic pump, the ANSYS software is adopted for the numerical calculation of the permanent magnetic field. Based on the magnetic field analysis and modeling, the distribution of magnetic force line and the variety of magnetic intensity in the air gap have been calculated with the change of the circular angle between the outer and the inner magnets. The change of magnetic field distribution with different numbers of magnetic poles and different thickness of yoke iron and the change of torque with different air gaps have also been studied. The numerical calculation of the magnetic field in magnetic coupling of the magnetic pump is benefit to both the pump design and practical applications.

Key words: Magnetic coupling, Magnetic field, Magnetic torque, Numerical calculation, 7-DOF, anthropomorphic movements, elbow self-motion, humanoid manipulator, inverse kinematics, minimum potential energy index