三轴正交组合线圈结构参数优化设计  

Optimization Design of Structure Parameters of Three axis Orthogonal Combination Coil

作　　者：赵子豪[1] 张永顺[1] 郭小熙 董海[1] ZHAO Zihao;ZHANG Yongshun;GUO Xiaoxi;DONG Hai(State Key Laboratory of High Performance Precision Manufacturing,Dalian University of Technology,Dalian 116024,China)

机构地区：[1]大连理工大学高性能精密制造全国重点实验室,辽宁大连116024

出　　处：《机械与电子》2023年第11期3-9,共7页Machinery & Electronics

基　　金：国家自然科学基金资助项目(62173059)。

摘　　要：为克服现有电磁驱动球型关节各自由度间电磁耦合和力学耦合关系复杂及建模困难等难题,提出一种新型电磁变刚度球型手腕,通过万向节输出端所构成随动机构内置的径向磁化永磁体,在三轴正交组合线圈生成的空间万向旋转磁场同轴随动磁矩直接驱动下可实现侧摆、俯仰二自由度转动。针对电磁变刚度球型手腕对高集成度和高能量输出密度的实际需求,采用2组鞍形线圈和1组亥姆霍兹线圈的正交组合线圈驱动方案,建立线圈内部的磁场模型和球型手腕输出力矩模型,通过遗传算法对三轴正交组合线圈进行结构设计和参数优化。仿真结果表明,对比三轴亥姆霍兹线圈,优化后三轴正交组合线圈磁场均匀度更高,具有更高能量输出密度,结构紧凑,更满足球型手腕的需求。In order to overcome the problems such as complex electromagnetic coupling and mechanical coupling relationship between various degrees of freedom of the existing electromagnetic drive spherical joint,and difficulties in modeling,a new type of electromagnetic variable stiffness spherical wrist is proposed.Through the radial magnetized permanent magnet built in the follow-up mechanism formed by the output end of the universal joint,the space universal rotating magnetic field generated by the three-axis orthogonal combination coil can realize the two-degree-of-freedom rotation of sidesway and pitch under the direct drive of the coaxial follow-up magnetic moment.In view of the practical requirements of electromagnetic variable stiffness spherical wrist for high integration and high energy output density,this paper adopts two groups of saddle coils and a group of Helmholtz coils of orthogonal combination coil drive scheme,establishes the magnetic field model inside the coil and the spherical wrist output torque model,and carries out the structural design and parameter optimization of the three-axis orthogonal combination coil through genetic algorithm.The simulation results show that compared with the three-axis Helmholtz coil,the optimized three-axis orthogonal combination coil has higher magnetic field uniformity,higher energy output density,compact structure,and more meet the requirements of the ball wrist.

关 键 词：三轴正交组合线圈 磁场建模 优化设计 球型手腕 磁场均匀性 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]