Study On The Motion Characteristics Of Spherical Active Joints With Magnetic Suspension

With the development of modern industry,the applications of driving joint become more and more widely.The analysis of existing joint shows that the drive and transmission technology restrict its performance.Thus,this paper conducted a research of maglev spherical driving joint Maglev spherical driving joint can drive rotor in the way of ’zero transmission’.This makes the structure of joints and joint control system greatly simplified.It can replace two or more single degree driving motors in a multi-DOF motion system.Making the driving chain is greatly shortened, reducing the size and weight of the joint,improving the efficiency, the accuracy, and the dynamic response speed of the system.Thus,the research of the maglev spherical driving joint owns great significance no matter in theoretical exploration or in practical application.The key of Maglev spherical driving joint research lies in the analysis of the rotor movement and the design of the detection and control system.Based on the joint structures,establishing a experimental platform,and analyzing the motion state of the joint. Works include the following parts:Based on the analysis of magnetic induction,we established the constitutive equation of the joint.This thesis conducted finite element analysis of the magnetic field by Ansys,and obtained the curves of electromagnetic levitation force,the electromagnetic torque, flux density.In this paper, the distribution of hydrodynamic equations was established in spherical coordinates,and solved the the pressure distributed on the rotor surface by using finite difference method.Furthermore,obtained the curves of the fluid pressure, the bearing stiffness,the fluid viscous damping torque.This thesis conducted an analysis of the rotor movement,and analyzed the precession and nutation caused by the unbalance moment.Set up experiment platform,and verified the theory of the rotor movement.