Key Parameters Design of Robot Joint Motor Based on Frozen Permeability

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