| With the rapid development of modern science and robot technology, the requirements for the industrial products by the people have been increasingly enhanced. In order to perform more complex movements, the motion device with three-degrees-of-freedom has been widely applied in the manufacturing industry, service industry and other fields. Complicated mechanical joint devices demand higher precision and stable performance for the motors, while this kind of traditional device is composed of multiple single-degree-of-freedom motors and complex mechanical structure, which has complex structure and poor stability, so this promotes the development of multi-degree-of-freedom motors which have the advantages of simple structure, high precision and high efficiency. In recent years, because various kinds of permanent magnetic materials are used in motor design, such as ferrite, aluminum nickel cobalt alloy, rare earth permanent magnet and so on, which makes the traditional motors with large volume and non-flexible operation and the excitation coil are gradually replaced by the executive mechanism made by the permanent magnetic material which has the advantages of small volume, light weight, simple structure and convenient operation, so the permanent magnetic multi-degree-of-freedom motor will be the important research direction in the field of special motors.In this context, this paper proposes a permanent magnetic deflection type three-degree-of-freedom motor with double layers of stator coils and single circular cylindrical rotor structure in reference to the basis of a variety of multi-degree-of-freedom permanent magnet motors’ structure designed by domestic and foreign scholars. Combined with the research results on the multi-degree-of-freedom rotor position detection, the paper further proposed a position detection technology for the novel 3-DOF deflection type PM motor. In this paper, the main research work follows:1) In this paper, on the basis of the detailed description of the specific structure and size of the proposed three-DOF deflection type PM motor, the operation principle of the motor are introduced in details, and also with the description on how to realize the deflection and rotation of the motor. Simultaneously the ANSOFT MAXWELL software used for the model establishment is introduced with the overall analysis on the performance.2) According to the structure and the specific size of the drum-type rotor, and combined with the working principle of the photoelectric sensor, this paper puts forward a method of using the photoelectric sensor to detect the drum-type rotor’s position. And the design methods of using single photoelectric sensor and dual photoelectric sensors detect the position of motor’s rotor are described respectively. Then this paper conducts algorithm simulation through the MATLAB software, and analyzes the advantages and disadvantages of different methods.3) The hardware and software design of the lower position machine which could implement sensor signal sampling with ARM series STM32F103RCT6 development board as the core are introduced in details. According to the actual signal sampling circuit, the requirements and matters needing attention of PCB design is expounded.4) According to the requirement of the position detection experiments, the type of photoelectric sensors is chosen, and sensitivity parameters of the photoelectric sensor are determined by experiment. Through building the single photoelectric sensors and the dual photoelectric sensor rotor position detection platform respectively, the position detection of Three-DOF deflection type PM motor is realized, and the interface waveforms and the data of the PC is analyzed. Therefore, the feasibility and advantages of using photoelectric sensors detect the real-time position of the drum-type rotor is proved by experiment. |
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