电磁球型关节全悬浮转子抑振油腔廓形优化

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关键词：电磁球型关节；旋转定轴效应；临界电磁频率；廓形优化；振动抑制中图分类号：TP242DOI：10.3969/j.issn.1004-132X.2026.02.012 开放科学（资源服务）标识码（OSID）：

Optimization for Profiles of Vibration-Suppressing Oil Cavities in Electromagnetic Spherical Joint Fully Suspended Rotors

SUN Lifeng1ZHANG Yongshunl* LU Tianyu1LIU Zhenhu1SUN Limin² 1.State Key Laboratory of High-performance Precision Manufacturing，Dalian University of Technology， Dalian，Liaoning，116024 2.AVIC Shenyang Aircraft Corp， Shenyang，110850

Abstract： In order to meet the specific requirements of extreme non-structural environment on variable stiffness control performance of the joints，and to address the common problems such as electromagnetic drive structure complexity，coupled magnetic field modeling difficulties，magnetic moment singular ity，a two-degree-of-freedom electromagnetic flexible spherical joint，driven through the axis control of the rotating magnetic field，was proposed based on the rotational coaxial efect that the lateral coupling magnetic moment drived the axis of the permanent magnet rotor to turn to the axis of rotating magnetic fields. Since the instantaneous alternating coupling magnetic moment，which generated by the permanent magnet rotor，gave rise to a vibration problem at the output end of the joints if a rigid roling bearing was used to support the permanent magnet rotor，this paper put forward dynamic pressure oil film vibration suppression method of a fully-suspended rotor based on multi-vee efect. The fluid dynamic characteristic equation of the oil films in sealing cavities was derived，thereafter，rotor system dynamics equation with combined variable stiffness by the electromagnetic stiffness and the stiffness of rotor dynamic pressure oil film was deduced，and the contour size and number of sealing cavities were optimized with the goal of optimal stability of the rotor systems. Simulations and experiments demonstrate that the fully suspended rotor system scheme may reduce the output end’s swing errors effctively，with a maximum reduction in vibration amplitude by 55.70% ，layinga foundation for the theoretical research of anti-interference in novel electromagnetic joints.

Key words： electromagnetic spherical joint； rotating magnetic coaxial effect；critical electromagnetic frequency； profile optimization;vibration suppression

0 引言

传动关节是确保机械臂末端执行器实现精确定位和交互性能的关键因素，直接影响机械臂的灵活性与环境适应性。（剩余13945字）