\r刘海涛¹，魏天元¹，王友渔²，刘玉华¹

AuthorsHTML:\r刘海涛¹，魏天元¹，王友渔²，刘玉华¹

AuthorsListE:\rLiu Haitao¹，Wei Tianyuan¹，Wang Youyu²，Liu Yuhua¹


AuthorsHTMLE:\rLiu Haitao¹，Wei Tianyuan¹，Wang Youyu²，Liu Yuhua¹


Unit:\r1. 天津大学机构理论与装备设计教育部重点实验室，天津 300350；
2. 北京空间飞行器总体设计部，北京 100094


Unit_EngLish:\r1. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education，Tianjin University，Tianjin 300350，China；2. Beijing Institute of Spacecraft System Engineering CAST，Beijing 100094，China


Abstract_Chinese:\r设计了一种结构紧凑可实现力位解耦控制的电磁式柔性直线驱动器．该柔性驱动器主要由变刚度装置和位置调节装置两部分组成，其中变刚度装置采用双线圈-永磁铁对称布置结构，通过动态改变线圈中输入电流的大小调节电磁力，从而实现变刚度输出．建立了通电线圈周边磁场的数学模型，并采用等效磁荷法推导出永磁铁在通电线圈磁场中所受电磁力的显示表达式．在此基础上，分析了设计参数对电磁力的影响规律，完成了变刚度装置的参数优化设计．通过虚拟仿真分析了变刚度装置的力-位移和力-电流特性，并将实验结果与理论结果进行对比，验证了变刚度装置力-位移和力-电流特性的准确性和有效性．结果表明，所设计的柔性直线驱动器能够实现变刚度控制．


Abstract_English:\rIn this paper，we describe our design of a compact electromagnetic compliant linear actuator，which can be used for force-position decoupled control．The actuator mainly comprises a variable stiffness device and a position adjustment device．We symmetrically placed two coils that interact with two permanent magnets in the variable stiffness device，in which the electromagnetic force can be adjusted to achieve variable stiffness by dynamically changing the input current in the coil．We then established a mathematical model of the magnetic field of the energized coil．Using this model，we derived the explicit expression of the electromagnetic force of the permanent magnet by the equivalent charge method．Furthermore，by analyzing the influence of the design parameters on the electromagnetic force of permanent magnet，we were able to optimize the variable stiffness device．Moreover，we analyzed the force-displacement and force-current characteristics of the variable stiffness device via simulation and experiment．Ultimately，we compared the experimental and theoretical results to verify the accuracy and effectiveness of the force-displacement and force-current characterizations of the device，The results confirm that the designed compliant linear actuator is suitable for variable stiffness control．


Keyword_Chinese:电磁式柔性驱动器；概念设计；优化


Keywords_English:electromagnetic compliant actuator；conceptual design；optimization



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