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

doi:10.3901/JME.2018.22.204

Abstract

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

CLC Number:

TM359

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.

References

[1] WALTON M C. Strain wave gearing:US, 49547955A[P]. 1959-9-29.
[2] 陈晓霞,刘玉生,邢静忠,等. 谐波齿轮中柔轮中性层的伸缩变形规律[J]. 机械工程学报,2014,50(21):189-196. CHEN Xiaoxia, LIU Yusheng, XING Jingzhong, et al. Neutral line stretch of flexspline in harmonic driver[J]. Journal of Mechanical Engineering, 2014, 50(21):189-196.
[3] KIRCANSKI N, GOLDENBERG A A, JIA S. An experimental study of nonlinear stiffness, hysteresis, and friction effects in robot joints with harmonic drives and torque sensors[J]. International Journal of Robotics Research, 1997, 16(2):214-239.
[4] 沈允文, 叶庆泰. 谐波齿轮传动的理论和设计[M]. 北京:机械工业出版社, 1985. SHEN Yunwen, YE Qingtai. Theory and eesign of harmonic gear drive[M]. Beijing:China Machine Press, 1985.
[5] 辛洪兵,郑伟智. 压电谐波电机的研究[J]. 压电与声光,2004,26(2):122-125. XIN Hongbing, ZHENG Weizhi. Study on harmonic Peizo-motor[J]. Piezo-electrics & Acousto-optics, 2004, 26(2):122-125.
[6] 李霞,郭正阳,张三川,等. 一种新型压电谐波电动机的研究[J]. 微特电机,2014,42(6):4-7. LI Xia, GUO Zhengyang, ZHANG Sanchuan, et al. Study on a piezoelectric harmonic motor[J]. Small and Special Electrical Machines, 2014, 42(6):4-7.
[7] 蔡万宠,张建富,郁鼎文,等. 超磁致伸缩超声振动系统的机电转换效率研究[J]. 机械工程学报,2017,53(19):52-58. CAI Wanchong, ZHANG Jianfu, YU Dingewn, et al. Research on the electromechanical conversion efficiency for giant magnetostrictive ultrasonic machining system[J]. Journal of Mechanical Engineering, 2017, 53(19):52-58.
[8] JILES D C, THOELKE J B. Theory of ferromagnetic hysteresis:determination of model parameters from experimental hysteresis loops[J]. IEEE Transactions on Magnetics, 1989, 25(5):3928-3930.
[9] DAPINO M J, SMITH R C, FLATAU A B. Structural magnetic strain model for magnetostrictive transducers[J]. IEEE Transactions on Magnetics, 2000, 36(3):545-556.
[10] 贾振元,杨兴,郭东明,等. 超磁致伸缩材料微位移执行器的设计理论及方法[J]. 机械工程学报,2001, 37(11):46-49. JIA Zhenyuan, YANG Xing, GUO Dongming, et al. Theories and methods of designing microdisplacement actuator based on giant magnetostrictive materials[J]. Chinese Journal of Mechanical Engineering, 2001, 37(11):46-49.
[11] 余佩琼,梅德庆,陈子辰. 基于稀土超磁致伸缩材料的微致动器设计[J]. 农业机械学报,2003,34(3):105-108. YU Peiqiong, MEI Deqing, CHEN Zichen. Design of a micro-displacement actuator based on giant magnetostrictive material[J]. Journal of Agricultural Machinery, 2003, 34(3):105-108.
[12] 王传礼,丁凡. 伺服阀用超磁致伸缩转换器驱动磁场的数值计算[J]. 兵工学报, 2007, 28(9):1082-1086. WANG Chuanli, DING Fan. Numerical calculation on driving magnetic field of GMM actuator for servo valve[J]. Acta Armamentarii, 2007, 28(9):1082-1086.
[13] 李琳,陈亮良,杨勇. 超磁致伸缩作动器的结构分析[J]. 北京航空航天大学学报,2013,39(9):1269-1274. LI Lin, CHEN Liangliang, YANG Yong. Structural analysis of giant magnetostrictive actuator[J]. Journal of Beijing University of Aeronautics and Astronautics, 2013, 39(9):1269-1274.
[14] 杨远飞,张天丽,蒋成保. 用于GMA的新型永磁偏置闭合磁路[J]. 北京航空航天大学学报,2012,38(12):1682-1685. YANG Yuanfei, ZHANG Tianli, JIANG Chengbao. Novel closed magnetic circuit with permanent magnet biased for giant magnetostrictive actuator[J]. Beijing University of Aeronautics and Astronautics, 2012, 38(12):1682-1685.

[15] 朱优兵,朱林剑,苑顺鹏,等. 超磁致伸缩谐波电机的微位移放大器研究[J]. 微特电机,2016,44(10):13-17. ZHU Youbing, ZHU Linjian, YUAN Shunpeng, et al. A research on micro-displacement amplifier on the giant magnetostrictive harmonic motor[J]. Small and Special Electrical Machines, 2016, 44(10):13-17.
[16] CLAEYSSEN F, LHERMET N, LETTY R L, et al. Actuators, transducers and motors based on giant magnetostrictive materials[J]. Journal of Alloys & Compounds, 1997, 258(1-2):61-73.
[17] GRUNWALD A, OLABI A G. Design of a magnetostrictive (MS) actuator[J]. Sensors & Actuators A Physical, 2008, 144(1):161-175.
[18] 杨旭磊,朱玉川,费尚书,等. 超磁致伸缩电静液作动器磁场分析与优化[J]. 航空动力学报,2016,31(9):2210-2217. YANG Xulei, ZHU Yuchuan, FEI Shangshu, et al. Magnetic field analysis and optimization of giant magnetostrictive electro-hydrostatic actuator[J]. Journal of Aerospace Power, 2016, 31(9):2210-2217.
[19] SABLIK M J, JILES D C. Coupled magnetoelastic theory of magnetic and magnetostrictive hysteresis[J]. IEEE Transactions on Magnetics, 1993, 29(4):2113-2123.
[20] KVARNSJO L, BERGQVIST A, ENGDAHL G. A method of measuring eddy current impedances in giant magnetostrictive materials[J]. IEEE Transactions on Magnetics, 1990, 26(26):2574-2576.
[21] ZHANG T, YANG B T, LI H G, et al. Dynamic modeling and adaptive vibration control study for giant magnetostrictive actuators[J]. Sensors & Actuators A Physical, 2013, 190(2):96-105.