四足机器人电驱关节用轴向磁通永磁电机设计

Design of Axial Flux Permanent Magnet Motor for Quadruped Robot Electric Drive Joint

针对现有四足机器人电驱关节用径向磁通永磁电机存在轴向尺寸长、转矩密度低的缺陷,基于电驱关节对电机的性能指标要求,提出了一种采用双定子单转子结构的轴向磁通永磁同步电机电磁设计方案。采用Maxwell软件建立了电机的三维有限元模型,进行了电磁仿真分析。仿真结果表明:轴向磁通永磁电机额定功率为260 W,额定输出转矩为2.53 N·m,电机效率为85.36%;峰值功率为630 W,峰值转矩为7.52 N·m,仿真结果满足电机性能指标要求。对轴向磁通永磁电机与径向磁通永磁电机在相同工况下的转矩进行分析,轴向磁通永磁电机输出转矩高于径向磁通永磁电机。该轴向磁通永磁电机电磁方案为四足机器人电驱关节用电机的高转矩密度、高功率密度设计提供了新的思路。

Aiming at the defects of long axial dimension and low torque density in the radial flux permanent magnet motor used in the electric drive joint of the existing quadruped robot,based on the performance index requirements of the electric drive joint for the motor,an electromagnetic design scheme of an axial flux permanent magnet synchronous motor with a double stator and single rotor structure was proposed.The three-dimensional finite element model of the motor was established using Maxwell software,and the electromagnetic simulation analysis was carried out.The simulation results show that the rated power of the axial flux permanent magnet motor is 260 W and the rated output The torque is 2.53 N·m,the motor efficiency is 85.36%;the peak power is 630 W,and the peak torque is 7.52 N·m.The simulation results meet the requirements of motor performance indicators.The torque analysis of the axial flux permanent magnet motor and the radial flux permanent magnet motor under the same working conditions,the output torque of the axial flux permanent magnet motor is higher than that of the radial flux permanent magnet motor.The electromagnetic solution of the axial flux permanent magnet motor provides a new idea for the design of the high torque density and high power density of the quadruped robot electric drive joint motor.