机电集成, 谐波传动, 柔轮, 磁场力, 变形

In view of the phenomenon that an electromagnetic harmonic friction driving flexspline will deform in a magnetic field, this deformation will change the airgap at any moment,a concept of airgap function was introduced.And based on thin-shelled elastic deformation theory, simplifying the driven flexspline to a column shell，a model was built and used to analyse the static force of flexspline affected by electromagnetism.Due to this method has considered flux density change caused by flexspline formation, it can precisely describe the characteristics of the radial electromagnetic force,the force and deformation rule of flexspline.It provides a more reliable theoretical basis for harmonic electromagnetic motor structure design and strength check.

electromechanical integration, harmonic drive, flexspline, electromagnetism force, deformation