【摘要】 针对微小型四足机器人驱动器成本高、可控性差的问题介绍了一种电磁驱动器。通过有限元方法进行了三维静磁场的参数化建模并探究了线圈匝数、激励电压、永磁体初始位置等参数对电磁力的影响规律；设计了电磁力测试实验对仿真结果进行了验证，结果表明：仿真与实验结果具有较好的一致性；最后制作了微小型四足机器人进一步验证了该驱动器的应用可行性。该驱动器为提高微小型四足机器人的可控性提供了新的思路。更多还原

【Abstract】 An electromagnetic actuator is introduced to solve the problem of poor controllability of traditional micro-quadruped robot.The parameterized modeling of three-dimensional static magnetic field is carried out by finite element method, and the effect rules of the number of coil turns, excitation voltage and the initial position of permanent magnet on the electromagnetic force are explored.Then the electromagnetic force test is designed to verify the simulation results, and the results show that the simulation results are in good agreement with the experimental results.Finally, a miniature quadruped robot is made to further verify the application feasibility of the actuator.The actuator provides a new idea for improving the controllability of miniature quadruped robot.更多还原