| A moving-coil-concentric rotary and linear motor with unipolar permanent magnet(RDM-UPM RLM)is presented in this paper.It is characterized by the radial nesting combination of rotating and linear actuators,which share a set of outer stators embedded in a unipolar permanent magnet on the surface and the same air gap magnetic field.Under different excitation conditions,two nested actuators can produce rotation,straight line and spiral motion.The motor has the characteristics of high mechanical integration,fast response speed and high material utilization rate,and has broad application prospects in robot joints,machine tool machining,semiconductor manufacturing and other fields.Therefore,the research on rotary linear motor has important theoretical significance and practical value.In this paper,the topological structure,operation mechanism,electromagnetic design,electromagnetic characteristics,torque/thrust optimization and other aspects of the system are studied by adopting the research method from local to whole,mainly including:(1)By comparing and analyzing the topology structure of RLM that has been proposed at home and abroad,a new type of RLM is proposed.This motor combines unipolar permanent magnet rotating motor and voice coil motor with high dynamic response.The two drive units share the same unipolar permanent magnet stator and the same air gap,which can output rotary motion and linear motion.(2)The topological structure of the proposed RLM is briefly introduced and the operation mechanism is analyzed.The mathematical models of rotary drive unit and linear drive unit in different coordinate systems are established,and the related parameters affecting the motor performance are briefly analyzed.The structural differences between the two driving units of the motor and the traditional permanent magnet rotating motor and voice coil motor were compared,and a reasonable design method was selected.Combined with the practical application scenario,the characteristics of the motor are summarized,the topological structure is analyzed and the electromagnetic design of the motor is simplified,and the preliminary design scheme is established.(3)Finite element method is used to analyze the two-dimensional electromagnetic field of the rotating drive unit.The electromagnetic characteristics of the rotating motor under unipolar permanent magnet were compared with those of traditional permanent magnet rotating motor.The electromagnetic characteristics of voice coil motor under unipolar permanent magnet are compared with those of traditional voice coil motor.Based on the three-dimensional finite element model,the electromagnetic characteristics and output performance of the two driving units of the motor under the unipolar permanent magnet are analyzed more accurately and comprehensively,and the distribution law of the motor magnetic field is analyzed.(4)Based on the objective of increasing the output thrust and improving the motor torque characteristics,the structural dimensions of the RLM are adjusted,including the length of the rotating armature/coil,the radial length of the coil,the radial length of the permanent magnet/mechanical Angle,the radius of the rotating shaft,etc.Since the two driving units share the same unipolar permanent magnet stator,the influence of structural parameters on the output performance of the two driving units and the influence of magnetic coupling under different excitation on the output performance of the motor are analyzed. |
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