两自由度直驱感应电机优化设计及特性分析

Optimization and characteristic analysis of 2-DOF direct drive induction motor

针对两自由度驱动技术多采用两个或者多个旋转电机以及中间传动装置的复杂性,提出一种两自由度直驱感应电机新结构,可以实现直线、旋转及螺旋运动。采用解析算法,初步确定电机的主要参数;采用有限元参数化建模方法对实心转子导电材料、导电层放置位置以及导电层厚度等进行优化。仿真结果表明,转子采用钢铜复合次级材料,钢层外置铜层内置时,电机运行特性最佳。分析了旋转运动部分和直线运动部分堵转(堵动)及突加负载情况的电机特性,分析结果表明该电机性能达到设计要求。

Aiming at the complexity of the traditional two degrees of freedom （2-dof） drive technology,a novel 2-dof direct drive induction motor capable of linear translation,rotary motion or helical motion was proposed.Traditional analytical method was adopted to design the motor initially.The finite element parametric modeling method was adopted to optimize the materials of the solid rotor,the thickness of the conductive layer and the place of the conductive layers.The simulation results indicate that the motor has better performance when the rotor steel is put in the outer layer outside and the inner copper layer is of specific thickness.-Simulations of the performance of the linear component and the rotary component were made respectively under the condition of blockage and increasing load sharply.The results indicate that the proposed motor meets the requirements.