Design concept development of a variable magnetization motorwith improved efficiency and controllable stiffness for roboticapplications

摘要

A variable magnetization(VM) motor by incorporating magnets that can be flexibly configured with variable magnetization process is proposed to meet the emerging requirements on motor efficiency and actuator compliance in robotic applications. A generalized spin torque model is established which provides a relationship between the motor torque and two different types of motor inputs, the current inputs and the magnet magnetizations. Avariable magnetization process is proposed based on the study of the hysteresis properties of the magnetic materials and the design criteria for implementing the variable magnetization process with current pulses are established. The feasibility of the variable magnetization is validated with experimental data and the motor functions and performances are numerically demonstrated and evaluated. The results show that the VM motor can maintain high efficiency by switching between two actuation modes. Controllable stiffness at different equilibria can be also achieved with the VM motor with instantaneous magnetizing current pulses.