Design And Analysis Of Axial Flux Permanent Magnet Motor For Quadruped Robot

The situation at the fire rescue site is complex and variable,with potential hazards such as high temperature,thick smoke,and collapse.Firefighters are unable to timely judge the surrounding environment and the location of injured personnel,resulting in low rescue efficiency.Quadruped robots have become the optimal choice in the field of rescue due to their flexible walking ability and strong load capacity.The mobility and load capacity of quadruped robots are directly influenced by the electric drive joints.As the core component of the electric drive joint of a quadruped robot,the torque density performance of the motor is a direct source of the mobility and load capacity of the entire quadruped robot.Through research on motors used for electric drive joints of quadruped robots both domestically and internationally,it has been found that traditional radial flux permanent magnet motors generally have problems such as low torque density and large volume,which limit the performance of quadruped robots.A novel axial flux permanent magnet motor with pole less shoe structure was designed to address the above issues.The main research content of this article includes the following aspects:Firstly,based on the performance requirements of the quadruped robot electric drive joint for the motor,the advantages and disadvantages of various schemes of permanent magnet motors were comprehensively analyzed,and a new type of axial flux permanent magnet motor with high torque density and pole less shoe structure was designed.The simulation of axial flux permanent magnet motor under multiple operating conditions shows that the axial flux permanent magnet motor meets the performance requirements of the motor and has a higher torque density compared to traditional motors,providing a new solution for improving the performance of quadruped robots.Then,based on the axial distribution characteristics of the motor’s air gap magnetic field and the structure of the motor’s pole free shoe,the motor’s air gap magnetic field is analyzed and an analytical model of the motor’s electromagnetic torque is derived.On the basis of the electromagnetic torque analytical model,the torque density of the motor was optimized using the Genetic Algorithm optimizer,and a motor model was established based on new motor parameters.Subsequently,finite element method was used to simulate and verify the pre optimized and post optimized motor models.The results showed that the optimized motor torque density increased by 20%,reaching 5.34 N.m/kg.Finally,manufacture and test the electric drive joint.The test results show that the rated output torque of the electric drive joint equipped with an axial flux permanent magnet motor exceeds 38 N.m,meeting the design requirements of the electric drive joint,and there is a good linearity between the output torque and the input current.The new axial flux permanent magnet motor with pole less shoe structure provides new ideas and technical support for the strong mobility and high load capacity requirements of quadruped robots.