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and
Machine Theory
Mechanism and Machine Theory 43 (2008) 771–789
ate/mechmt
Mesh analysis and torque fluctuation for
electromechanical integrated toroidal drive
Lizhong Xu *, Xin Liu
Mechanical Engineering Institute, Yanshan University, China
Received 23 September 2005; received in revised form 22 April 2007
Available online 4 September 2007
Abstract
In this paper, the initial mounting positions of the s are classified into three types: asynchronous mounting, syn-
chronous mounting and square wave-asynchronous mounting. The initial position vector is presented to represent the ini-
tial mounting positions. The equations of the generalized initial position vectors are given. The equations of the more teeth
mesh zone and less teeth mesh zone are presented, respectively. The changes of the mesh tooth pair number with drive
parameters are discussed. Equations of the maximum and minimum torques and equation of its fluctuation are presented.
There are periodic changes in output torque of the drive. Mounting modes and number have obvious influence on
the output torque fluctuation. In order to get large output torque and small torque fluctuation, more pole pair number and
number, and proper mounting mode should be selected.
Ó 2007 Elsevier Ltd. All rights reserved.
Keywords: Toroidal drive; Electromechanical integrated; Torque fluctuation; Mesh analysis
1. Introduction
Toroidal drive can transmit large torque in a very small size and is suitable for the technical fields such as
aviation and space flight. Some countries have been developing the drive for years [1–5]. As more and more
electrical and control techniques are utilized in mechanical engineering field, posite drives
e advancing edge of the mechanical science. So far, the types of the posite drives with
integrated structure are still very limited. The ic harmonic drive [6] and piezoelectric harmonic
one [7] are active drives in which the meshing forces betw