Electromagnetic driving two-degrees of freedom spherical robot wrist and control method thereof

Abstract

The invention belongs to the technical field of automation engineering and relates to an electromagnetic driving two-degrees of freedom spherical robot wrist and a control method thereof. The electromagnetic driving two-degrees of freedom spherical robot wrist is a high-integration driving spherical wrist device, the two output ends of an internal universal joint and an external universal joint passing through the same rotating center are coaxially connected, and a radial magnetizing permanent magnet in a servo mechanism is directly driven by a coaxial servo magnetic moment in a space universal rotary magnetic field to realize side-sway and pitching two-degrees of freedom rotation. The electromagnetic driving two-degrees of freedom spherical robot wrist overcomes the defects of a complicated driving machinery wrist, the wrist driving system is simple and light in structure, high in transmission efficiency, static and dynamic performance and control and response speed, can solve the modeling problem of the existing spherical electromagnetic driving joint three-dimensional complicated magnetic field, realize precise modeling of the spherical electromagnetic driving joint magnetic field and precise decoupling of electromagnetic coupling and mechanical coupling, and remarkably improves the response sensitivity and positioning precision of electromagnetic driving spherical joint control.

Description

technical field [0001] The invention belongs to the technical field of automation engineering, and relates to an electromagnetically driven two-degree-of-freedom spherical robot wrist and a control method thereof, specifically, two output ends (driven forks) of inner and outer universal joints passing through the same rotation center at the same time. The follower mechanism formed by the shaft connection has a built-in radially magnetized permanent magnet, which is directly driven by the coaxial follower magnetic moment of the universal rotating magnetic field in space to realize the robot's highly integrated active spherical wrist device that can rotate sideways and pitch with two degrees of freedom. Background technique [0002] Robots used in dangerous and extreme environments have strict requirements on the performance indicators of the wrist. For example, space robots are characterized by compact structure, high degree of integration, and large power-to-weight ratio. Sp...

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Problems solved by technology

[0016] At present, the electromagnetic spherical motor generally has the following problems in the body structure design, electromagnetic and torque analysis and control: 1) It is difficult to calculate the magnetic field

The magnetic field of a spherical motor is a three-dimensional magnetic field, which is extremely complex. At present, the calculation of the magnetic field of a spherical motor is based on an idealized assumption model, and it is not possible to accurately model and calculate the magnetic field.

2) Electromagnetic coupling problem

[0028] According to the available information and the novelty search of the project, at present, there are no relevant reports at home and abroad on the new type of electromagnetically driven spherical wrist that adopts the coaxial follow-up magnetic moment effect of the universal rotating magnetic field in space, and there is no realization of the master and wrist through electromagnetic torque control. The report of passive wrist mode of work, therefore, the present invention has comparatively outstanding originality

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