Optimization design of a motor embedded in a lightweight robotic joint

Abstract

As the lightweight robotic arm has been applied widely, it is significant to make lightweight robotic arms much safer and lighter. In this study, the axial flux permanent magnet (AFPM) brushless DC motor with high torque density is proposed and designed to apply for the robotic joint based on a prototype. A major design objective is to achieve a lightweight AFPM motor embedded in a robotic joint. This is accomplished by the complex method, where the structural dimensions and electromagnetic parameters are parameterized as design variables. Constraints are formulated on the basis of kinematic performance, dynamic performance and electromagnetic specifications. Finally, through the comparison between the original and optimal, the optimal design has lighter weight and smaller size.