Design,Analysis And Trial Production Of The Linear Electromagnetic Drive

The driving device is one of the determining factors of the agility and flexibility of humanoid robot's motion, and it is also a source of strength for various activities of humanoid robot. In view of the poor compliance, complicated driving process, difficult control problems on the existing drive modes of humanoid robot, a linear electromagnetic actuator was put forward and designed. The driving force of the actuator is a kind of non-contact force (Ampere force), and the output mode of motion is linear. Also, we carried out the theoretical analysis and simulation study on the drive model. Results show that the movement form of the device is similar to human muscle. The device can solve the shock and vibration problems causing by the mechanical contact between body who applies the force and body who subjects the force, and avoid the complicated problems such as the mechanical drive device which is composed of motor and four-bar mechanism, whose movement form need to be transformed for many times to realize the linear motion.Based on the basic principle of electromagnetic and guided by the muscles driving mechanism of human body, we completed the design and theoretical analysis, modeling and simulation, prototype trial of linear electromagnetic actuator. The specific research work includes the following four aspects:1) we designed a linear electromagnetic actuator with flexible drive, including the design of energy storage unit, driving unit and cooling unit; 2) we carried out the theoretical analysis of the design scheme of the electromagnetic driving device, and proved its feasibility and reality; 3) after making the electromagnetic finite element analysis of the designed model, we got the distribution of magnetic field inside the winding and the influence factors of magnetic density, which can provide strong reference to the trial-produce and experiment of the prototype of driving device.4) the prototype of electromagnetic driving apparatus was made and the test system was designed, which offers a basis for the subsequent experiment research.