中文摘要：

针对目前多自由度仿生电磁驱动研究所面临的问题,提出了一种新型的采用液质悬浮模式的混合驱动永磁多自由度电机。文章详细介绍了电机的结构及工作原理,建立和提出了适合于该电机的磁场和转矩计算方法;采用解析法和有限元法对电机气隙磁场进行对比分析,分析结果相互验证。最后对该电机大范围运动和精细运动的转矩特性进行了计算和仿真。研究结果表明该电机结构的合理性,并为电机进一步的优化及实验提供理论及数据支持。

英文摘要：

Aiming at the problem of multi-degree-of-freedom bionic drive, this paper presents a new type hybrid driv- en permanent magnet muhi-DOF motor with liquid suspension mode. In this paper, the structure and working principle of the motor are introduced, and the magnetic field and torque calculation method are proposed. The magnetic field of the mo- tor is analyzed by using the analytical and finite element method, and the results are compared and verified. Finally, the torque characteristics of large range of motion and fine motion are calculated and simulated. The research results show the rationality of the motor＇s structure, and provide the theoretical and data support for further optimization and experimentation of this motor.