超磁致伸缩谐波电机致动器设计方法与特性研究

针对普通谐波齿轮传动需由电机经波发生器输入运动和动力，空间利用率低、惯性大、高速响应差的问题，提出一种由超磁致伸缩材料驱动的有源谐波电机。致动器作为谐波电机动力源及换能装置，对其磁场强度、均匀性、漏磁及空间限制等均有严格要求，据此提出分段内置式永磁结构布局，充分利用空间并改善均匀性；通过对偏置磁场和驱动磁场强度及均匀性影响因素研究，优化致动器参数；随后利用有限元法建立致动器模型并对磁场特性仿真分析；根据优化结构研制出超磁致伸缩谐波电机致动器样机，并对其输出特性试验研究。理论分析与试验结果表明，分段内置式永磁结构漏磁极小，所提出的设计理论和方法，保证了磁场强度和均匀性的同时也保证了致动器工作在准线性范围内，输出规律符合啮合要求，易于实现精准控制，为超磁致伸缩谐波电机走向实际应用奠定了基础。

Design Method and Characteristics Study on Actuator of Giant Magnetostrictive Harmonic Motor

The common harmonic gear drive must be input motion and power by the motor and wave generator, which being low space efficiency, large inertia and poor response, therefore, an active harmonic motor driven by giant magnetostrictive material is proposed. Actuator, as the power source and energy conversion device of harmonic motor, has strict requirements for magnetic field intensity, uniformity, magnetic leakage and space restriction. Accordingly, a structure layout of bias magnetic field produced by segmentally built-in permanent magnet is put forward, which could make full use of space and improve uniformity. The main parameters of actuator are designed, and then of further optimization is carried out by analyzing the influence factors on intensity and uniformity of bias and driving magnetic field. Based on the optimized results, the actuator is modeled and manufactured, thereafter, its magnetic field characteristics of actuator are simulated and analyzed by finite element method (FEM), and the output characteristics are verified by experiments. It shows that structure composed of segmentally built-in permanent magnet has few magnetic leakage, moreover, the proposed design theory and method not only guaranteed the magnetic field intensity and uniformity, but also make the actuator working in a linear range, the law of output meeting the requirements of gearing, and easier to control accurately, which lays the foundation for the practical application of giant magnetostrictive harmonic motor.