| The giant magnetostrictive material is another new functional material after piezoelectric ceramic, shape memory alloys, etc. Because of the large magnetostrictive strain, high energy density, fast response and high magnetic coupling coefficient, it has been widely used in the production of various forms of micro-displacement actuators and sensors application in various fields. Harmonic drive is a gear transmission technology, for its big transmission ratio, small size, high transmission accuracy, pass motion and power to the confined space, so it is widely applied in some special occasions. Meanwhile, with the continuous development of functional materials, there are many new harmonic drive mechanisms. In this paper, we studied the giant magnetostrictive harmonic motor that combined the giant magnetostrictive material and harmonic drive to form a set of driving and deceleration in one of the new motor. A new type harmonic transmit is used as motor, because of its big transmission ratio, containing reducer devices, adjustable amplitude and stepless-speed compared with the conventional motor.In the paper, we analyzed the relationship between the deformation of flexible wheel and the force. It provided the basis for selection of GMM rod and identified the required drive current waveform initially. Meanwhile, we explained the mechanism of GMM magnetostrictive rods, analyzed the impact of GMM hysteresis effects, temperature, pressure, the bias magnetic field and the frequency of drive magnetic field to the GMM rod strain. Last we designed the actuator structure and analyzed the electromagnetic field use ANSYS.We designed a micro-displacement amplification device that is based on hydraulic principles, the use of metal diaphragm and metal bellows to transfer displacement and seal. Carried on the theoretical derivation and ANSYS analysis of the maximum amount of displacement of the flexible diaphragm rigid central, and on this basis to optimize the structure size. Deduced the expression of the theory magnification K of hydraulic micro-displacement amplifier, and by experimental verification of the validity of the formula. We further concluded the main difference between theory and experiment. The conclusion shows the oil-containing gas and fluid compressibility. We also designed a vacuum devices with good performance and good effect of vacuum devices.By using concentrated mass method we established a dynamic model for the actuatoro We obtained the displacement curve of GMM rod, mandril and metal diaphragm under a certain frequency and amplitude alternating current. The dynamic model was solved by Newmark method through Matlab Ignoring the influence of ?E, hysteresis of the GMM rod, the variable stiffness of disc spring, and temperature of the system on the output displacement, we concluded that the maximum displacement of mandril and metal diaphragm has a certain attenuation compared to the GMM's. and disc spring stiffness has great influence on GMM rod output displacement with other conditions constant,.We described the basic principles of giant magnetostrictive harmonic drive motor power, the specific requirements of the drive power and required functionality. Finally, We studied the distribution of actuators, the oil roads in overall amplifier and other auxiliary structures design in the overall harmonic motor. We established the three-dimensional model for the harmonic motor. We test the output characteristics of static and dynamic displacement of the actuator and driver. From these results, its structure is reasonable, static stability, and its dynamic responses show fast, accurate, and high-precision characteristics. These high performance meet the requirements of giant magnetostrictive harmonic motor. |
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