Considering electromagnetic coupling between mechanical system and electric system in electromechanical integrated electromagnetic worm drive, an expression of electromagnetic coupling stiffness was derived. Electromechanical coupling dynamics model and differential equations of drive system were founded. Three specific modes, i. e, rotating, worm and worm gear mode of mechanical system were obtained and corresponding mode characteristics were studied. Meanwhile, synchronization, symmetry and asymmetry oscillation mode of electric system were analyzed and corresponding mode characteristics were summarized. Lastly, changes of system natural frequencies with cone half angle of worm gear were analyzed. All of these will provide a foundation for further study of system dynamic characteristics.%考虑机电集成电磁蜗杆传动系统中机械系统与电系统之间的电磁耦合作用,推导了电磁耦合刚度的表达式,建立了该机电耦合京统的动力学模型及相应的微分方程组,研究了机械系统特有的旋转模态、蜗轮模态和蜗杆模态及其相应的模态特征,给出了电系统中同步、对称、不对称振荡的三种模态及相应的模态特点.最后研究了蜗轮锥顶半角对机械系统固有频率的影响规律.
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