A Study on the Improvement of Torque Density of an Axial Slot-Less Flux Permanent Magnet Synchronous Motor for Collaborative Robot

Abstract

In this paper, an axial slot-less permanent magnet synchronous motor (ASFPMSM) was designed to increase the power density. The iron core of the stator was replaced with block coils, and the stator back yoke was removed because 3D printing can provide a wide range of structures of the stator. The proposed model also significantly impacts efficiency because it can reduce iron loss. To meet size and performance requirements, coil thickness and number of winding layers in the block, the total amount of magnet, and pole/slot combinations were considered. The validity of the proposed model was proved via finite elements analysis (FEA).

Keywords

• axial flux permanent magnet synchronous motor
• SPMSM
• slot-less
• block-coil
• collaborative robot (cobot)
• robot joint