电磁式谐波传动机电耦合系统对柔轮变形的影响分析  

Analysis of flexible spline deformation in electromagnetic harmonic drive motor coupling system

作　　者：任玉波[1] 许立忠[1] 梁永丽[1] 

机构地区：[1]燕山大学河北省并联机器人与机电系统实验室,河北秦皇岛066004

出　　处：《燕山大学学报》2013年第3期211-216,共6页Journal of Yanshan University

基　　金：国家自然科学基金资助项目(51075350)

摘　　要：电磁式谐波传动电机是依靠柔轮的弹性变形来传递动力的,柔轮在旋转磁场的作用下发生变形的同时,也使电磁场域的形状发生变化,导致电磁场与结构场之间相互影响。本文通过分析系统中存在的电磁-结构耦合关系,并进行离散化处理,建立了电磁场和结构场的有限元耦合平衡方程,讨论了两场之间存在的耦合条件和各场的边界条件,推导出力和位移在两个物理场交界面上传递的表达式。通过对系统的有限元仿真,得到了柔轮的径向位移分布及其随系统参数变化的规律,为进一步研究电磁式谐波传动电机提供了依据。Electromagnetic harmonic drive motor transfers power by means of the elastic deformation of the flexible ring.Under the effect of rotating magnetic field,the flexible ring is deformed,and the shape of the electromagnetic field is varied.Finally,the interaction between electromagnetic field and structure field occur.In this paper,the finite element coupling balance equations of electromagnetic field and structure field are established based on analyzing the coupling relationship between electromagnetic and structure,and discretization processing.The coupling conditions between the electromagnetic and the structure are discussed.Formulas are deduced for transfer of force and displacement at the electromagnetic/structure interface.Using FEM simulation,the distribution of the radial displacements and their variation form along with system parameters are obtained.The results provide the basis for further research the motor.

关 键 词：电磁谐波 柔轮 耦合 边界条件 

分 类 号：TH132[机械工程—机械制造及自动化]