Comparisons of Concentrated Fractional Winding and Distributed Winding of Permanent Magnet Synchronous Motors for Biped Robot

摘要

Two 20-pole permanent magnet synchronous motors (PMSM) are compared in this paper with 81-slot and 24slot. Their electromagnetic and mechanical characteristics including cogging torque, electromagnetic torque, voltage distortion, motor loss, unbalanced magnetic force, modal analysis, and deformation are investigated. The simulation results show that the 81-slot motor is a better choice in term of torque performance for biped robot.