Design of a 24-slot/22-pole Permanent Magnet Synchronous Motor for Quadruped Robot

Abstract

This paper evaluated the electromagnetic and mechanical characteristics of a 24-slot/22-pole permanent magnet synchronous motor (PMSM) with surface mounted poles and concentrated windings for quadruped robot. Eight motors are installed on the robot's hips and shoulders, of which the machine mass and torque density are of great importance. Four motors with identical rotor structures are compared. The average torque, cogging torque, winding factor, unbalanced force, induced voltage, and air-gap flux density of four motors with identical rotor structures are compared in detail. The finite element analysis results confirm the motors with 24-slot/22-pole combination are the good candidates for this application.