机器人用同轴磁性齿轮若干基本特性分析及其数值计算  

Analysis and Numerical Calculation for Several Basic Characteristics of Coaxial Magnetic Gears Applied in Robots

作　　者：杨洪静 华华[1,2] 杨向萍 陈家新[1] Yang Hongjing;Hua Hua;Yang Xiangping;Chen Jiaxin(College of Mechanical Engineering,Donghua University,Shanghai 201620,China;Xuancheng Meteorological Bureau,Xuancheng 242000,China)

机构地区：[1]东华大学机械工程学院,上海201620 [2]宣城市气象局,安徽宣城242000

出　　处：《机械传动》2024年第7期63-68,共6页Journal of Mechanical Transmission

基　　金：纺织工业联合会纺织之光基础科研基金项目(J201505)。

摘　　要：机器人用同轴磁性齿轮受其固有特性的限制,目前难以直接应用于工业机器人,其力矩密度、传动比、空程、背隙和扭转刚度、稳定工作区等关键基本特性的研究尚存不足。为此,以国家标准规定的型14谐波齿轮性能为参考对象,采用类比的方法,运用相关电磁学理论,对与其同等空间大小的同轴磁性齿轮相关性能及其数值计算方法、稳定性以及伺服电动机和同轴磁性齿轮的一体化集成技术进行了研究和对比,指出了扭转刚度不足是制约同轴磁性齿轮用于机器人的关键因素,明确了未来机器人同轴磁性齿轮伺服控制的研究重点。Due to its natural characteristics,coaxial magnetic gears are still difficult to be directly applied to industrial robots.Some key basic characteristics such as torque density,transmission ratio,null-space,backlash and torsional stiffness,and stable working area are still insufficient.For this reason,this study takes the harmonic gear performance of the national standard type 14 as the reference object,uses the relevant electromagnetic theory and the analogy method to study and compare the related performance of the coaxial magnetic gear with the same space size and its numerical calculation method,stability and the integrated technology of servo motors and coaxial magnetic gears.It is pointed out that the lack of torsional stiffness is the key factor that restricts the use of coaxial magnetic gears in robots,and the research focus of the coaxial magnetic gear servo control for robots in the future is clarified.

关 键 词：同轴磁性齿轮 空程 背隙 扭转刚度 

分 类 号：TH132.41[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]