Electromagnetic Harmonic Movable Tooth Geared Motor With An Inner Stator

In order to solve the problem of large size of axial centering and eccentric drive mechanism and the limitation of transmission ratio of traditional harmonic reducer,this paper proposes an internal stator type electromagnetic harmonic movable tooth reduction motor,which is one of the new electromechanical integrated drive mechanisms in MEMS.It integrates drive and control,and can realize the organic combination of electromagnetic drive,strain wave drive,movable tooth drive and electromechanical control.At the same time,because there are no high-speed moving parts in this transmission mechanism,it can obtain faster response speed.Firstly,through the principle analysis and structural design of the electromagnetic harmonic movable tooth reduction motor drive system,the corresponding two-dimensional and three-dimensional drawings are drawn,the corresponding models are established,and the kinematic characteristics and static analysis are carried out.The equivalent air gap length and the equivalent electromagnetic force on the flexible wheel are calculated,and the relationship equation between the input electromagnetic force and output force and output torque of the mechanism is obtained.The leakage inductance,mechanical loss and electrical loss of the motor are analyzed according to the electrical principle,and the magnetic induction conversion efficiency of the motor part and the iron loss and copper loss power of the stator end of the reduction motor are obtained.The oil film thickness of different meshing positions in the system is obtained by abstracting the flexible wheel,movable tooth,movable tooth rack and central wheel as bearings,and the lubrication state of the system belongs to boundary lubrication,The total friction power accounted for 74.5%.The dynamic model of the transmission system is established,and the natural frequency and mode of the flexspline are solved through the boundary conditions and continuity conditions.The mechanical and electrical parameters in the mechanism are changed,and the sensitivity of the natural frequency to the parameters is analyzed.The machining and manufacturing of the prototype and the dynamic characteristics test have been completed,the key components have been simulated and analyzed,the natural frequency of the prototype has been tested,and the results of the theoretical value,simulation value and experimental value have been compared to verify the correctness of the theory.