Research Of A New Type Of PM Spherical M-DOF Motor

Based on the analysis of the present research and development situation of the M-DOF motor, a novel PM spherical M-DOF motors is analyzed and studied, the finite element model of the motor is established, the 3D static magnetic field analysis of this motor is carried out, the torque model of the motor is also built, the optimization design of the motor is performed and finally the prototype of the motor is made for theoretical verification. The particular 3D spherical structure has made it different from those conventional motors in the theoretical research. As for this kind of motor, many problems have been seldom discussed and the relative literature is sparsely delivered, which shows the necessity and provides significant reference to the research of similar motors. Compared with ordinary M-DOF motor, the PM spherical M-DOF motors combines the merits of simple structure, relatively small volume, wider motion tange and easy to be comtrolled. As an operation component, the spherical motor can effectively overcome the intrinsic disadvantages of conventional connecting mechanisms by simplifying the complexity of the transmission, improving the dynamic and static performance. Therefore, the spherical motor has been the front domain of current mechatronic driven actuator system research with intensive theoretical background, which caters to many applications.The main contribution of this dissertation can be discussde as follows.1)The superior performance of PM spherical M-DOF motors is introduced briefly in this thesis which proposed the classification of permanent magnet spherical M-DOF motors for the first time. The paper focused on the introduction about the latest study situation and difficulties of the domestic and abroad research. Also the exciting prospects and development trends of the permanent magnet spherical M-DOF motors are analyzed.2)The three-dimensional finite element model of the new permanent magnet spherical MDOF motor in MAXWELL12(3D)is established. The principle of finite element model of motor, small region encryption process and detailed introduces modeling process of the motor in Maxwell were gived. The simulation results provide support for permanent magnet spherical multi-freedom motor further research.3)The studied PM M-DOF motor in this thesis is with a special spherical structure, the current NdFeB preparation technology also shows the difficulties on multi-pole magnetization, so this paper improved the rotor structure, which is close to the origin design effects. The superior performance of the PM spherical M-DOF motors is introduced briefly in this paper,putting forward four kinds of permanent magnetic rotor design schemes for a novel PM spherical M-DOF motor with analyzing static magnetic flux density modulus value and magnetostatic field of every kind of permanent magnet structure. Then the torque features of permanent magnetic rotor structures in PM spherical M-DOF motor under the circumstance of 3D finite element software are simulated. Finally the five-cylinder structure of NdFeB rotor instead of spherical structures is prepared, combined with recent NdFeB production technology.4)The three-dimensional finite element model of the spherical M-DOF motor in MAXWELL12(3D)is established. The torque characteristic of motor was simulated, the spatial distribution of the motor torque provides further optimized design theory basis of spherical permanent magnet multi-freedom motor.5)For the special structure of the PM spherical M-DOF motors, during the optimization process, the output torque and material usuage are chosen as the optimal objectives, and R, Rk , Rd sand Rd xare kept unchanged. The niche genetic algorithm is improved in optimization process. Through the comparison of the results, the set objective functions have met the requirements; spherical rotor output torque has been obviously improved, with effective materials consumption reduced, which proves the effectiveness of the improved algorithm.6) For theoretical validation, the prototype of the PM spherical M-DOF motor is designed and produced.