Design And Aanlysis Of Permanent Magnet Motors For Quadruped Robot

Due to its superior geographic environment adaptability,quadruped robots have received extensive attention in recent years.The driving power source can be divided into two categories: hydraulic drive and electric drive.With the advantages of compact structure and fast dynamic response,electric drive has become a hot topic for robotics research.As the power source for robot motion,the motor should have the characteristics in terms of low mass,large torque density,fast response,and high overload capacity.The characteristics of the motor during the robot's movement are analyzed and the motor design parameters are listed.The following studies have been carried out:1.The fundamental theory of fractional slot concentrated winding motors are introduced.The mathematic models of the winding coefficients of integer slot and fractional slot motors are derived and the advantages of fractional slot concentrated windings are explained to support the subsequent motor design.2.Slot/pole combination analysis is performed.Four 22-pole surface mounted permanent magnet motor(SPMSM)with fractional slot concentrated are compared for the following parameters: average rotation output,cogging torque,winding coefficient,unbalanced force.3.According to the high torque requirements of motor for quadruped robot,in order to increase the motor torque density,an outer rotor permanent magnet synchronous motor is proposed,and its performance is analyzed to optimize the structure.An outer rotor flux modulation permanent magnet motor(FPM)with two split teeth structure is proposed and optimized to improve torque output further.Finally,the characteristic of SPM and FPM are compared to find the better design.