直线型电磁驱动装置的设计分析

In view of the poor compliance, difficult control problems，complicated driving process on the existing drive modes of humanoid robot, a linear electromagnetic drive was designed. The device uses two E-type silicons which are laid relatively in direction to form magnetic tracks. Through comparative analysis of the magnetic induction intensity produced by coil in the air and in the silicon steel tracks, we can know that the designed device possess the function of reducing core loss. By the magnetic field finite element simulation analysis, it is concluded that the magnetic field distributed in the corresponding area of silicon steel sheet is uniform, which is the basis for the determination of the drive parts' placement and size of this device. Through the analysis of the movement of the force of the drive components, indicating that the device has a characteristic of active contraction producing tensile force which is similar to the drive mechanism of human skeletal muscles, and that it has the properties of buffering and vibration absorbing. Which has important reference value on stability studies of humanoid robot to perform complex actions.