Two-freedom-degree hybrid stepping motor for bionic eyeballs of robot

Abstract

The invention discloses a two-freedom-degree hybrid stepping motor for bionic eyeballs of a robot. The stepping motor comprises a first freedom degree motor, a second freedom degree motor and output shafts, wherein the first freedom degree motor is of a circular structure with a notch, the second freedom degree motor is of a circular structure with an opening, the notch is matched with the opening, and the planes of the two motors are perpendicularly orthogonal; the first freedom degree motor and the second freedom degree motor both comprise stators and rotors, the stators and the rotors can relatively move in the planes of the motors, and the two-freedom-degree movement of the output shaft of one freedom degree motor can be achieved through respective independent movement of the two freedom degree motors. The two-freedom-degree hybrid stepping motor has the advantages of being simple in structure and manufacture technology, convenient in analysis design, high in mechanical integration level, high in open-loop operation location accuracy, easy in performance experiment test and favorable for shortening the development period of products and improving the performance and the competitiveness of the products.

Description

technical field [0001] The invention relates to a two-degree-of-freedom hybrid stepping motor for a robot bionic eyeball. Background technique [0002] Robotic bionic eyeballs are of great significance to help robots obtain certain vision when performing tasks, so as to work more independently and correctly. However, because bionic eyeballs need to perform operations such as rotation like normal eyeballs, motors with multiple degrees of freedom are required. At the same time, it is necessary to ensure that the motor is small in size, light in weight, high in positioning accuracy, and smooth in operation, and can make the eyeball, that is, the end of the output shaft of the motor, move along any trajectory with a certain accuracy within a given range, such as the eyeball rotates continuously. [0003] Traditional multi-degree-of-freedom motion is often realized by the cooperation of multiple single-degree-of-freedom motions. Multi-degree-of-freedom transmission devices are g...

AI Technical Summary

Problems solved by technology

[0009] 2. Calculation problems of electromagnetic field and torque

[0010] 3. Electromagnetic coupling problem

[0011] 4. Motor manufacturing and processing technology issues

In addition, due to the complex structure of the spherical motor and the difficulty in processing, it is necessary to pay attention to the research on the processing technology of the spherical motor to improve the accuracy of the processing of the spherical motor

[0012] 5. Spherical motor drive control problem

[0013] 6. Position detection and positioning accuracy problems

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