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Torque and displacement for a micro electromagnetic harmonic drive system

Drehmoment und Verschiebung für ein mikroelektromagnetisches harmonisches Antriebssystem

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Abstract

In this paper, a micro electromagnetic harmonic drive system is proposed. For the drive system, the equation of the displacements for the flexible ring under a magnetic field is deduced. Here, both electromagnetic and Van der Waals forces are considered. The equation of the relationship between flexible ring displacements and coil current is given, and based on this, an equation of the output torque for the drive system is provided. Using these equations, the molecule forces between the flexible ring and stator are investigated, and the relationship between flexible ring displacements and coil current and its changes along with system parameters are analyzed. The output torque of the drive system and its changes along with system parameters are also studied. Findings show that the effects of the initial clearance and the coil current on the Van der Waals force between flexible ring and stator are coupled to each other. For a small initial clearance, the effect of the coil current on the van der Waals force becomes large. When the initial clearance is quite small, the effects of the molecule force on the output torque should be considered.

Zusammenfassung

In diesem Beitrag wird ein elektromagnetisches Mikroantriebssystem vorgestellt. Für das Antriebssystem wird die Gleichung der Verschiebungen für den flexiblen Ring unter einem Magnetfeld hergeleitet. Hierbei werden sowohl elektromagnetische als auch Van-der-Waals-Kräfte berücksichtigt. Die Gleichung der Beziehung zwischen flexiblem Ring und Stator wird untersucht, und die Beziehung zwischen den Verschiebungen des flexiblen Rings und dem Spulenstrom und dessen Änderungen zusammen mit den Systemparametern werden analysiert. Das Ausgangsdrehmoment des Antriebssystems und dessen Änderungen zusammen mit den Systemparametern werden ebenfalls untersucht. Die Ergebnisse zeigen, dass die Auswirkungen der initialen Clearance und des Spulenstroms auf die Van-der-Waals-Kraft zwischen flexiblem Ring und Stator miteinander gekoppelt sind. Bei einer kleinen initialen Clearance ist der Einfluss des Spulenstroms auf die Van-der-Waals-Kraft groß. Wenn die initiale Clearance recht klein ist, sollten die Auswirkungen der Molekülkraft auf das Ausgangsdrehmoment berücksichtigt werden.

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Acknowledgements

This project is supported by the National key R & D Program of China (No. 2018YFB1304803) and the Hebei Province Natural Science Foundation in China (No.E2017203021).

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Authors and Affiliations

  1. Mechanical engineering institute, Yanshan University, 066004, Qinhuangdao, China

    Dan Zhao, Yuming Fu & Lizhong Xu

  2. Electromechanic research institute, Hengshui University, 053000, Hengshui, China

    Dan Zhao

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  1. Dan Zhao
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  2. Yuming Fu
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Correspondence to Lizhong Xu.

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Zhao, D., Fu, Y. & Xu, L. Torque and displacement for a micro electromagnetic harmonic drive system. Forsch Ingenieurwes 85, 139–151 (2021). https://doi.org/10.1007/s10010-021-00438-1

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  • DOI: https://doi.org/10.1007/s10010-021-00438-1

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