Structure Design And Research On Fundamental Features About Translational Meshing Motor

This dissertation presents a type of low speed and high torque motor applied in robot joint——translation meshing motor (TMM) with new structure and new principle which meets the need of space endurance and space fitness of robot It is a new motor which integrates reduction gears into the drive and translates the electric energy into the mechanical energy through the reluctance variety between the stator and the rotor. The rotor of this new motor is constrained to move around the stator by circle translation with a parallelogram linkage, and drives the cycloid machine to output big torque. This type of motor reduces the influence of load fluctuation through cycloid gears to drive load. And because of fewer frictions between driving and driven gears, the motor has higher efficiency and longer life man the ultrasonic motors and the harmonic gear motors. In mis dissertation, profound study is involved in several aspects, including basic operation principle, design features, magnetic field distribution, steady and starting performance characteristics. And then the prototypes of TMM have been designed, manufactured and experimented.In this dissertation, the features of construction and principle of operation of TMM are discussed in details. Compared with the basic magnetic principle of reluctance motor, the performances and features of the TMM are analyzed through energy method. TMM can be divided into four partitions according to function, and more useful structures deduced from the four partitions are introduced. Finally, from these structures, two typical TMM constructions that have more practical and theoretical are concluded, and named translational motor and flexible translational motor, respectively.Considering the unique structure of the translational motor, following the method applied in reluctance motor, Finite Element Method (FEM) of translational motor is founded, and then Magnetic field distribution and magnetic circuit characteristics is analyzed primarily. So the flux linkages at different rotor angles are calculated. By the FEM and co-energy method, the static characteristics of translational motor are obtained. The influences of gap length, polar arc and thick of stator yoke on electromagnetic torque are discussed. At last, the nonlinear magnetization data model is established to analyze the dynamic characteristics of the translational motor, and the steady state and starting features are obtained by the magnetization and torque-angle curves.The Magnetic Equivalent Circuit (MEC) model is founded aiming at the special structure of the translational motor for optimum design and real-time control of the motor. Borrowing the exchange principle of magnetic line of force and magnetic equipotential line, the tube in which the flux distribution is non-uniform is applied to the model. With these measures, the local saturation of the motor is treated and the number of flux tube units is reduced in order that the model is simplified. Based on the model, a steady state analysis model of the translational motor is founded with the state equations established which takes the flux linkages of the phase windings as state variable. And the steady state characteristics of the prototype are obtained under single-phase excitation. Compared nonlinear magnetization data method results, the new model is proved concise and precise.In this dissertation, a type of flexible translational motor is introduced to avoid the magnetic circuit coupling arising from structure feature of the stator and rotor and reduce the influence of the inertial force of rotor translation. Through using flexible mechanism this new motor divides the magnetic pole of the rotor and the magnetic pole of the stator, which avoids the different magnetic circuit coupling, produces the movement between the rotor and stator that are moving towards each other, which reduces the inertia force when the motor operates. Thus, the analytic method is applied to analyze the magnetic circuit of the motor, and the result is precise compared with FEM in some extent.Furthermore, the flexible structure makes the structure analysis of the motor more complex, and the effects of the flexible structure on motor properties should be taken into account. So, the rigidity of the flexure hinge and the flexible shaft and the quality unevenness in x, y distinction caused by guidance frames are included in the analytic model. Then the oscillation equation is established, and the effects of the dynamic partitions on the performance of the motor are discussed. Above the theoretical analysis, several prototypes are designed and manufactured. Through the prototype experiments, the construction of the translational meshing motor is testified to be reasonable and the original intention is realized. This motor is showed to be worth to research and has prospect of extensive application.