摘  要：针对机器人等对驱动设备有空间限制的应用场合，提出了一种三相齿轮啮合式电动机结构。分析了电机的运行原理和磁场特性，给出了控制方式；推导了转矩计算方法。为提高分析精确性，采用Ansoft Maxwell有限元磁场分析软件计算了电机转子在不同工作区域的静态转矩。计算结果表明该电机具有低转速、大扭矩特点。该电机集成了减速机构，缩短了传动链，结构紧凑，有着较好的应用前景。〖JP〗〖HT〗
关键词：啮合式电动机；减速机构；静态转矩；有限元

Abstract: Aiming at the application field of robot restrained the space of actuator,a structure of gear meshing motor with three phase poles was presented.The operation principle and magnetic field characteristics of motor were analyzed and the control method was introduced.For the precise of analysis,the magnetic field finite element software Ansoft.Maxwell was utilized to calculate the static torque of different positions where the rotor of motor was locating at.The simulation results verify that the motor has the features of low speed and big torque.It has good application prospect due to the reasons of integrated decelerating mechanism,shorten transmission chain and compact structure.
Key Words: Meshing motor;Decelerating mechanism;Static torque;Finite element