Characteristic Analysis Of Giant Magnetostrictive Harmonic Motor Actuator

Giant magnetostrictive material(GMM) is a new functional materials which can transform between electromagnetic energy and mechanical energy, it is a kind of good mechanical and electrical energy conversion coupling medium with a wide frequency response,large output force, high precision, large machine magnetic (electricity)coupling coefficient,fast response and high reliability. Harmonic gear drive technology is a new type of transmission technology, produced along with the development of space technology, has been widely used in various industrial fields at the present time. But ordinary harmonic drive device has some shortcomings, such as axial size large occupy more space, big axial dimension, occupying more space, big system moment of inertia at high speed, don’t have static torque holding function and speed regulating function. Based on this, giant magnetostrictive harmonic motor drive scheme was proposed that combined the harmonic gear transmission principle with the magnetostrictive deformation of giant magnetostrictive material, using the magnetostrictive deformation of GMM to drive flexspline generate periodic radial deformation, then to implement meshing transmission between flexspline and circularspline, forming the new low speed and high torque power unite with compact structure, low inertia, fast response, high resolution, high efficiency and convenient control. In this paper, the characteristics of giant magnetostrictive harmonic motor actuator was studied, the specific research contents are as follows.(1) Combined the excellent performance of GMM with the current problems of harmonic gear drive, the giant magnetostrictive harmonic motor drive scheme was proposed, and expounded its transmission principle.(2) Based on the magnetostrictive mechanism of GMM, the force-displacement output characteristic of GMM rod was studied. Aimed at structure dimensional limit of160type harmonic wave generator motor and a certain specifications of GMM rod, the giant magnetostrictive actuator was designed and researched. Actuator geometric model was established, the electromagnetic field of actuator was analyzed by ANSYS, fitting out the magnetostrictive displacement curve of GMM rod according to the results of finite element analysis. The static displacement characteristics experimental curve of actuators was consistent with the fitting curve, which verified the reliability of finite element analysis and rationality of the structure of actuator.(3) Based on the principle of PASCAL, the structure of micro displacement hydraulic amplifier was designed, the advantages and disadvantages of different structure forms of the amplifier were analyzed, ultimately the structure scheme of micro displacement hydraulic amplifier was determined, which used flexible hinge diaphragm as an input, metal bellows as an output, and the structural parameters of the amplifier was also determined. Then, special oiling device was designed for the amplifiers. Considering the fluid medium compression characteristics and temperature characteristics of the amplifier, the displacement amplifier input and output mathematical model was established, then studied the displacement output characteristic. The experimental output curve of amplifier was basically identical with the theoretical dynamic output curve, which verified the rationality of the structure of amplifier.(4) The giant magnetostrictive harmonic motor actuator experimental platform was set up. The experimental research of preloading mechanism calibration experiments, temperature rise characteristic experiment, static and dynamic displacement output characteristic experiment and load characteristic experiments was carried out for the giant magnetostrictive actuator. The experimental research of static and dynamic displacement output characteristic experiment was carried out for the giant magnetostrictive harmonic motor actuator.Through the above analysis and research, the giant magnetostrictive harmonic motor actuator with a certain output performance was got. Research results provide data reference for giant magnetostrictive harmonic motor actuator to further optimization design, lay a key technical support for the development of the giant magnetostrictive harmonic motor.