Design and Comparison of the Centralized Winding Permanent Magnet Motors for Robotic Joint

In this paper, a 42-pole/36-slot robot joint motor is designed. Firstly, the main electromagnetic performances of the two slot-pole combinations are compared. Then the effects of rotor eccentricity on unbalanced magnetic pull, air-gap flux density and radial force are analyzed. A prototype is made, and tested the vibration and noise of the motor at 1200 rpm., and the results show that the designed motor can meet the requirements of robotic work, and it has a certain value for engineering use.