Axial Flux Motor Development for Reduction-Less High-Torque Robotics Applications

Abstract

Motors in many high-performance robotics applications must provide high torque outputs at low duty cycles. A higher torque motor enables a more responsive actuator under load by reducing or eliminating the gear reduction in series with the motor. Due to the low duty cycle, the limiting factor in the torque output of motors in these applications is more often the magnetic saturation of the stator iron rather than the thermal properties of the motor. In this work, the authors provide a unique approach to torque optimization for this application, describe the process of designing, manufacturing, and testing a novel modular hybrid flux motor following these principles, and provide analysis and data on the torque performance of the resulting motor when compared to several common configurations