以下为句子列表：
英文: Thereafter mathematical model on magnetic tensile force along axial direction was established based on magnetic charge integral calculus by equivalent magnetic charge theory, by which characteristics and relationship among structural parameters of magneti
中文: 基于等效磁荷理论，采用磁荷积分法建立了驱动器的轴向磁拉力模型，对驱动器磁极结构参数与磁拉力的关系特性以及磁拉力与机器人游动关系特性进行了理论与试验研究。
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