径向驱动式啮合电机结构设计与静态转矩分析

Design and static torque analysis of a radial driving 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，设计了一种径向驱动式啮合电机结构。该电机利用3个定子和1个转子问磁阻的变化将电能转化为机械能，驱动转子在十字滑块机构约束下绕定子轴线做圆周平动，进而直接带动摆线机构输出低速大扭矩。设计制作了一台物理样机，给出了该电机的控制方法，运用有限元方法分析了在不同转子位置角的磁链特性，并依据磁共能原理，计算了电机的静态转矩。理论分析和样机试验结果较为吻合，证明该径向平动式啮合电机具有较大的输出转矩，并且结构紧凑粹制方法简单．

The structure of a novel radial driving meshing motor was designed according to the requirements of start-up performance and space adaptability for robot actuators, which consists of three magnetic poles and the function of them is to translate electrical energy into mechanical energy to drive one rotor. Under the driving of electromagnetic force and restricting of the the oldham coupling mechanism, the rotor moves by circle translation and drives the cycloid machine to output big torque. A prototype was developed and its control method was found. And the flux linkage characteristic was calculated using the finite element method, additionally, the static torque was computed utilizing the magnetic coenergy principle. The prototype＇s experimental results are identical with the theory analysis, testifying that the radial driving meshing motor has the big output torque, with the features of compact structure and simply control.