新型平动式啮合电机的运行原理和静态转矩

Operating principle and static torque of novel translational meshing motor

针对机器人系统对驱动电机的启动性能和空间适应性的要求,提出了一种新型的平动式啮合电动机,通过定转子间磁阻的变化将电能转化为机械能,在孔销结构的约束下使转子绕定子作圆周平动,进而可直接由转子带动摆线机构,利用摆线机构的减速作用输出大扭矩的高集成度电动机。设计并加工了一台原理样机,采用有限元方法建立了样机二维磁场模型,对样机的磁场分布进行了分析。计算了不同转子位置处的磁链族,并依据磁共能方法求得样机的静态转矩值,其计算结果与实验结果相吻合。理论分析和实验结果均表明新电机具有结构紧凑,可带载启动并启动快速的特点。

A novel translational meshing motor is presented and developed. It is a new motor which integrates reduetion gears into the drive and translates the electrical energy into the mechanical energy through the variety of the reluctance of the stator and rotor. The rotor is constrained to move by eircle and translates by way of a parallelogram linkage, and drives the cycloid machine to output big torque. The Finite Element method of the prototype of the translational meshing motor is founded and the static torque of the prototype is calculated by obtaining the flux linkages at different rotor angles. Through the prototype experiments, the analytical method is proved accurate, and the motor construction is testified to be reasonable and has the characteristics of big starting torque and high respond speed.