摘要
在智能系统发展时代机器人使用率在逐步提高,其中多自由度电动机在机器人的构成中占有较为重要的地位。多自由度电机发展历史较长,但大部分仍处于实验研究阶段。因此,为进一步简化电机结构、降低电磁耦合影响、提升电机运行稳定性等,本文依据非球形正交圆柱结构两自由度步进电动机运行原理,提出一种新型球形结构两自由度混合式步进电动机。首先,对该电机结构及运行原理进行介绍;其次,讲述削弱子电机间的耦合磁场方法,为缩短电机的分析计算时间及提高计算精度,提出二维等效电机模型分析方法;最后,三维电机模型与二维等效电机模型进行有限元仿真计算结果比较,并试制一台外径116mm实验样机实验验证了二维等效模型的可行性及准确性。
In the era of intelligent system development, the using of robots has gradually increased, among which multi-degree-of-freedom（DOF） motors have occupied an important position in the structure of robots. The development history of DOF motors is long, but most of them are still in the experimental research stage. Therefore, in order to further simplify the structure of the motor, reduce the influence of electromagnetic coupling, and enhance the stability of motor operation, this paper proposed a novel spherical two-degree-of-freedom（2-DOF） hybrid stepping motor based on the operation principle of a 2-DOF stepping motor with non-spherical orthogonal cylindrical structure. Firstly, the structure and operating principle of the motor were introduced;secondly, the method of weakening the coupling magnetic field between the sub-motors was described. To shorten the analysis time and improve the calculation accuracy of the motor, a two-dimensional equivalent motor model analysis method was proposed; finally, comparison of 3d motor model and 2d equivalent motor model by finite element simulation, and the feasibility and accuracy of a two-dimensional equivalent model with an outer diameter 116mm experimental prototype were experimentally verified.
作者
何航
徐衍亮
鲁炳林
HE Hang;XU Yanliang;LU Binglin(School of Electrical Engineering,Shandong University,Jinan 250061,China)
出处
《微电机》
北大核心
2018年第8期12-16,共5页
Micromotors
基金
国家"863"计划资助项目(2013AAJY322)
仿生眼感知与识别处理关键技术研究
关键词
球形结构两自由度混合式步进电机
电磁耦合
二维等效模型
spherical 2-DOF hybrid stepping motor
electromagnetic coupling
2-dimensional equivalent model
