混合式变刚度磁弹簧力学特性研究  

Research on the Mechanical Characteristics of Hybrid Variable Stiffness Magnetic Spring

作　　者：谢延松 张明[1] 孙凤[1] 孙兴伟[1] 徐方超[1] 张磊 XIE Yan-song;ZHANG Ming;SUN Feng;SUN Xing-wei;XU Fang-chao;ZHANG Lei(School of Mechanical Engineering,Shenyang University of Technology,Shenyang 110870,China;School of Mechanical Engineering,Liaoning Institute of Science and Technology,Benxi 117004,China)

机构地区：[1]沈阳工业大学机械工程学院,沈阳110870 [2]辽宁科技学院机械工程学院,本溪117004

出　　处：《组合机床与自动化加工技术》2023年第1期161-164,178,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金资助项目(52005344,52005345);辽宁省教育厅青年项目(LJKQZ2021044);辽宁省教育厅科学技术研究青年项目(202007141);国家重点研发计划(2020YFC2006701);中央引导地方科技发展专项(2020JH6/10500048)。

摘　　要：基于磁通叠加原理,提出一种混合式变刚度磁弹簧,具有刚度快速调节特性,可作为柔性机器人关节的弹性部件。在通入电流时,通过改变电流实现磁弹簧的刚度变化范围的调节;在未通入电流时,机构间只存在永磁磁通,在永磁力作用下可实现弹簧自复位。通过等效磁荷法、间隙磁导法和虚位移法推导出了磁弹簧的轴向磁力解析模型,基于有限元分析确定了线圈-永磁环的最优布置形式,并对机构参数进行了优化设计,使机构的输出刚度变化范围最大化。有限元仿真与模型计算共同表明,轴向磁力与刚度随着气隙变化呈先平缓后急剧增加的非线性关系;输出力和刚度与线圈电流近似线性关系;通过控制电流的大小和方向,可以控制混合式变刚度磁弹簧的刚度增减。Based on the principle of magnetic flux superposition, this paper proposes a hybrid variable stiffness magnetic spring, which has the characteristics of rapid stiffness adjustment and can be used as an elastic part of a flexible robot joint.By changing the current in the electromagnetic coil, the magnetic flux of the magnetic circuit system formed by the permanent magnet and the electromagnetic coil can be changed, thereby realizing the change of the stiffness change range of the magnetic spring device.When no current is applied, there is only permanent magnetic flux between the mechanisms, and the spring can be self-reset under the action of permanent magnetic force, and the stiffness and displacement of the magnetic spring change in a specific non-linear curve relationship.The analytical model of the axial magnetic force of the magnetic spring is deduced by the equivalent magnetic charge method, gap permeance method and virtual displacement method, and the correctness of the analytical model is verified by finite element simulation.Based on the finite element analysis, the optimal layout of the coil-permanent magnet ring is determined, and the mechanism parameters are optimized to maximize the output stiffness variation range of the mechanism.

关 键 词：弹性部件 变刚度 永磁体 磁通 有限元仿真 

分 类 号：TH16[机械工程—机械制造及自动化] TG502[金属学及工艺—金属切削加工及机床]