Issue |
JNWPU
Volume 42, Number 6, December 2024
|
|
---|---|---|
Page(s) | 1111 - 1118 | |
DOI | https://doi.org/10.1051/jnwpu/20244261111 | |
Published online | 03 February 2025 |
Design of high torque density motors for quadruped robot hip joints
四足机器人髋关节高转矩密度电机设计
School of Automation, Northwestern Polytechnical University, Xi'an 710072, China
Received:
7
October
2023
In response to the high torque density performance requirements for the hip joints of quadruped robots, an analytical design method for permanent magnet synchronous motors with the goal of increasing motor torque density is proposed in this study. A high torque density motor for quadruped robot hip joints is designed using this method. Finite element simulation is employed to model the motor, and a proof-of-concept prototype is designed based on the proposed analytical design method. Simulation and experimental data indicate that the designed motor's torque density meets the practical application requirements for quadruped robot hip joints, validating the accuracy and effectiveness of the analytical design method presented in this study.
摘要
针对四足机器人髋关节对驱动电机高转矩密度的性能需求, 提出一种以提高电机转矩密度为目标的永磁同步电机设计方法。设计出一款四足机器人髋关节用高转矩密度电机, 并通过有限元仿真对电机进行建模, 基于所提解析设计方法设计了原理样机。仿真与实验数据表明, 所设计电机的扭矩密度能够满足四足机器人髋关节的实际应用需求, 验证了所提解析设计方法的准确性和有效性。
Key words: robot joint motor / permanent magnet synchronous motor / torque density
关键字 : 机器人关节电机 / 永磁同步电机 / 转矩密度
© 2024 Journal of Northwestern Polytechnical University. All rights reserved.
This is an Open Access article distributed under the terms of the Creative Commons Attribution License (https://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Current usage metrics show cumulative count of Article Views (full-text article views including HTML views, PDF and ePub downloads, according to the available data) and Abstracts Views on Vision4Press platform.
Data correspond to usage on the plateform after 2015. The current usage metrics is available 48-96 hours after online publication and is updated daily on week days.
Initial download of the metrics may take a while.