Design And Simulation Of A Radial-Drived Three-Phased Translational Meshing Motor

This dissertation presents a type of low speed and high torque motor applied in robot joint——a radial drived three-phased translation meshing motor with new structure which meets the need of space endurance and space fitness of robot. It is a new motor which integrates reduction gears into the drive and translates the electric energy into the mechanical energy through the reluctance variety between the stator and the rotor. The rotor of this new motor is constrained to move around the stator by circle translation with a parallelogram linkage, and drives the cycloid machine to output big torque. This type of motor reduces the influence of load fluctuation through cycloid gears to drive load. And because of fewer frictions between driving and driven gears, the motor has higher efficiency and longer life than the ultrasonic motors and the harmonic gear motors. In this dissertation, profound study is involved in several aspects, including design features, magnetic field distribution and simulation.In this dissertation, the features of construction and principle of operation of the newly designed radial drived three-phased translation meshing motor are discussed in details. Compared with the basic magnetic principle of reluctance motor, the performances and features of the motor are analyzed through energy method.In this dissertation, the structure of the motor is designed according to the results of the parameter design, which includes the magnetic pole, the parallelogram linkage and the tooth of the gears. Then the 3D model of the motor is build up.After illuminating the principle, The Magnetic Equivalent Circuit (MEC) model of the motor is founded and the magnetic circuit analysis is actualized. Considering the unique structure of the motor, the following method is applied in reluctance motor, Finite Element Method (FEM) of translational motor is founded, and then Magnetic field distribution and magnetic circuit characteristics is analyzed primarily. So the flux linkages at different rotor angles are calculated. By the FEM and co-energy method, the static characteristics of translational motor are obtained. The influences of gap length, polar arc and thick of stator yoke on electromagnetic torque are discussed. At last, the nonlinear magnetization data model is established to analyze the dynamic characteristics of the translational motor, and the steady state and starting features are obtained by the magnetization and torque-angle curves.Finally the result of the Magnetic Equivalent Circuit analysis and the Finite element analysis is integrated and the structure is proofed to have a good foreground in research and application.