Analysis and Numerical Calculation for Several Basic Characteristics of Coaxial Magnetic Gears Applied in Robots

Yang Hongjing; Hua Hua; Yang Xiangping; Chen Jiaxin

doi:10.16578/j.issn.1004.2539.2024.07.008

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Analysis and Numerical Calculation for Several Basic Characteristics of Coaxial Magnetic Gears Applied in Robots

Design· Calculation | 更新时间：2024-07-22

- Analysis and Numerical Calculation for Several Basic Characteristics of Coaxial Magnetic Gears Applied in Robots
- Journal of Mechanical Transmission Vol. 48, Issue 7, Pages: 63-68(2024)
- 作者机构：
  
  1.东华大学机械工程学院，上海 201620
  2.宣城市气象局，安徽宣城 242000
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2024.07.008
  CLC：
- Published：15 July 2024，
  
  Received：18 April 2023，
  
  Revised：30 April 2023，
- 稿件说明：
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杨洪静,华华,杨向萍等.机器人用同轴磁性齿轮若干基本特性分析及其数值计算[J].机械传动,2024,48(07):63-68.

Yang Hongjing,Hua Hua,Yang Xiangping,et al.Analysis and Numerical Calculation for Several Basic Characteristics of Coaxial Magnetic Gears Applied in Robots[J].Journal of Mechanical Transmission,2024,48(07):63-68.
杨洪静,华华,杨向萍等.机器人用同轴磁性齿轮若干基本特性分析及其数值计算[J].机械传动,2024,48(07):63-68. DOI： 10.16578/j.issn.1004.2539.2024.07.008.

Yang Hongjing,Hua Hua,Yang Xiangping,et al.Analysis and Numerical Calculation for Several Basic Characteristics of Coaxial Magnetic Gears Applied in Robots[J].Journal of Mechanical Transmission,2024,48(07):63-68. DOI： 10.16578/j.issn.1004.2539.2024.07.008.

摘要

机器人用同轴磁性齿轮受其固有特性的限制，目前难以直接应用于工业机器人，其力矩密度、传动比、空程、背隙和扭转刚度、稳定工作区等关键基本特性的研究尚存不足。为此，以国家标准规定的型14谐波齿轮性能为参考对象，采用类比的方法，运用相关电磁学理论，对与其同等空间大小的同轴磁性齿轮相关性能及其数值计算方法、稳定性以及伺服电动机和同轴磁性齿轮的一体化集成技术进行了研究和对比，指出了扭转刚度不足是制约同轴磁性齿轮用于机器人的关键因素，明确了未来机器人同轴磁性齿轮伺服控制的研究重点。

Abstract

Due to its natural characteristics

coaxial magnetic gears are still difficult to be directly applied to industrial robots. Some key basic characteristics such as torque density

transmission ratio

null-space

backlash and torsional stiffness

and stable working area are still insufficient. For this reason

this study takes the harmonic gear performance of the national standard type 14 as the reference object

uses the relevant electromagnetic theory and the analogy method to study and compare the related performance of the coaxial magnetic gear with the same space size and its numerical calculation method

stability and the integrated technology of servo motors and coaxial magnetic gears. It is pointed out that the lack of torsional stiffness is the key factor that restricts the use of coaxial magnetic gears in robots

and the research focus of the coaxial magnetic gear servo control for robots in the future is clarified.

关键词

同轴磁性齿轮空程背隙扭转刚度

Keywords

Coaxial magnetic gearNull-spaceBacklashTorsional rigidity

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