Nutation reducers have recently attracted increasing attention, as they are used in important components of industrial robot joints. A novel disk-type nutation magnetic drive (NMD), based on the nutation gearing principle, is proposed in this article. Subsequently, a 3-D method for analyzing the magnetic field and predicting the torque of the disk-type NMD is presented. The 3-D analytical formula of the disk-type NMD is established on the basis of the equivalent current theory of permanent magnet, which is verified by the finite-element approach. Optimization design of the disk-type NMD is also carried out by applying the genetic algorithm. The results provide a reference for the design and optimization of the magnetic gears.

中文翻译：

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盘式章动磁力驱动器磁场和转矩的数值分析

章动减速器最近受到越来越多的关注，因为它们用于工业机器人关节的重要部件。本文提出了一种基于章动传动原理的新型盘式章动磁驱动器（NMD）。随后，提出了一种用于分析磁场和预测盘式 NMD 扭矩的 3-D 方法。根据永磁体等效电流理论建立了圆盘型NMD的三维解析公式，并通过有限元方法进行验证。盘式NMD的优化设计也是应用遗传算法进行的。研究结果可为磁齿轮的设计和优化提供参考。