Design of High Torque Density Permanent Magnet Motors and Drives for Collaborative Robot Applications

Duong, Minh-Trung; Luu, Phuong Thi; Duc, Ton; Perriard, Yves

doi:10.23919/icems52562.2021.9634370

Cited by 3 publications

(1 citation statement)

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“…The motor, one of the core components of the collaborative robot, is very closely related to the speed, repetition accuracy, range of motion, maximum torque, etc., which represent the robot's athletic ability. Therefore, motors used in collaborative robot joints design elements of miniaturization, high torque, and high control performance [6][7][8]. The axial flux permanent magnet (AFPM) motor proposed in this paper has a higher torque density than the radial flux permanent magnet (RFPM) motor.…”

Section: Introductionmentioning

confidence: 99%

A Study on Optimal Design Process of Dual Rotor Axial-Flux Permanent Magnet Synchronous Motors

et al. 2023

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The core design elements of the motor for the co-robot joint are miniaturization and high torque. In this paper, a dual rotor axial-flux permanent magnet (DRAFPM) motor is proposed to improve the performance of robot joints. DRAFPM motors have the advantage of reducing iron loss and minimizing volume because they can remove stator yoke. When designing a motor with the same volume, it can be designed to increase the height of the fixed ruler by the thickness of the yoke of the fixed ruler and increase the number of turns. In the case of existing axial-flux permanent magnet (AFPM) motors, the shape of the three-dimensional structure is limited by radial laminating of stator. Therefore, considering the production of 3D printing, the shape of stator shoe is designed. The optimal design problem of DRAFPM motor consists of real and integer design variables. In addition, due to the structural characteristics of DRAFPM motors, 3D finite element analysis (FEA) is required, so it takes a long time to interpret. Therefore, this paper proposes an efficient optimal design process to optimize the remaining real design variables after prioritizing the integer design variables. The proposed optimization process is applied to the DRAFPM motor for robot joints, and the optimal design plan satisfying the design function is derived from various design variables to prove the validity of the optimization process.

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Section: Introductionmentioning

confidence: 99%