Construction Principle and Torque Solution of the Translational Meshing Motor

A new type of actuator, named translational meshing motor was developed. The aim of this research is to develop a new motor which integrates the reduction gear into the drive. Compared with traditional motors, the noticeable features of this motor are short active length, high respond speed, stability at low speed, big output torque. The prototype is designed to run at 204 step/rev which is found to star-up with the load of 0.42 Nm under the current of 1.5A(under 2 rpm) and reach 20 rpm with the voltage of 12 V. In this paper, the construction principle and mechanism characteristics of this new motor are introduced. The quasi-linear model is founded and the star-up torque of the motor is calculated. Through the prototype experiments, the mathematic model is proved comparatively precise, and the motor is testified to be a direct drive motor which can be applied to robot joint.