High-speed, high-power motor design for a four-legged robot actuator optimized using the weighted sum and response surface methods

Abstract

In this paper, a design is presented for a high-speed, high-power motor for a four-legged robot actuator that was optimized using the weighted sum method (WSM) based on the Taguchi method, and the response surface method (RSM). First, output torque, torque constant, torque ripple, and efficiency were selected as objective functions for the optimized design. The sampling method was implemented to use a mixed orthogonal array and the single response characteristics of each objective function were compared using the Taguchi method. Moreover, to consider the multi-response characteristic of the objective functions, WSM was applied. Second, the 2D finite element analysis result of the RSM was compared with that using the WSM. Finally, an experiment was carried out on the manufactured motor and the optimized model is presented here.

Keywords

• four-legged robot
• multiphysics analysis
• optimized design
• surface mounted permanent magnet synchronous motor