Key Parameters Design of Robot Joint Motor Based on Frozen Permeability

Abstract

Robot joint motors have the characteristics of high torque density, low torque fluctuation, short-term high-overload, and light weight. Conventional design methods only focus on the overload capacity, without precisely analyzing the stator-rotor parameters and the effect of magnetic saturation on load torque fluctuation. Combining with the frozen permeability technology, the effects of structural parameters such as tooth width, slot opening, permanent magnet thickness and pole arc coefficient on the fluctuating component of load torque and ultimate torque are studied. Then, based on the performance requirements of joint motors for quadruped robots, a compact design joint motor for robots was designed to achieve a maximum torque overload capacity of 7.33 times and low torque fluctuation. A design method for a high-overload, low torque fluctuation robot joint motor was obtained, and finally the effectiveness of the proposed method was verified by prototype experiments.