新型多自由度永磁球形电机的设计与分析

Design and Analysis of a New Multi-DOF Permanent Magnet Spherical Motor

提出一种新型的多自由度永磁球形电机,可用于机器人关节、航空航天、卫星通讯等领域。该球形电机由一个表面贴有永磁体的中空转子球壳和具有旋转线圈和倾斜线圈的单定子组成,定子由铁心和两个三相绕组组成。考虑到该新型电机与现有的大多数空心线圈的球形电机结构的差异性和新颖性,很难找到较为完善的设计理论和方法。对电机的结构和工作原理进行详细阐述,并开展电机的原始设计;利用三维有限元方法分析了电磁特性,包括磁密、转矩等。仿真结果满足电机的设计指标。该设计方法球形电机的设计提供了一定的理论基础。

A new multi-DOF permanent magnet spherical motor was presented,which could be used in robot joint,aerospace,satellite communication and other fields.The spherical motor consisted of a hollow rotor spherical shell with permanent magnet and a single stator with rotating coil and tilting coil.The stator consisted of an iron core and two threephase windings.Considering the difference and novelty of the new motor structure compared with the existing spherical motor with hollow coil,it is difficult to find a more perfect design theory and method.The structure and working principle of the motor were described in detail,and the original design of the motor was carried out.The electromagnetic characteristics,including magnetic density and torque,were analyzed by using three-dimensional finite element method provided a theoretical basis for the design of this kind of spherical motor.