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Design of a High-Contrast Cogging Torque Outer Rotor PM Machine With Continuous Adjustability for Integrated Robot Joint Drive
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DOI：10.1109/jestpe.2026.3686211.png)
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Abstract
En 中文
This article presents the design methodology of an outer rotor permanent magnet (PM) machine with continuously adjustable cogging torque for an integrated robot joint drive. The proposed machine, under normal operation, is programmed to have excellent electromagnetic performances as a conventional field-modulation PM machine, with high electromagnetic torque and low torque ripple that provides smooth power production. In addition, the proposed machine has a state of high cogging torque during the power-off condition, which provides a passive locking force to keep the shaft from rolling, which can reduce energy consumption. The cogging torque amplitude can also be adjusted continuously to a desired locking force level. With this design, the mechanical parking/holding brake can be eliminated, together with its dust contamination, corrosion, and abrasion concerns. This greatly reduces the maintenance needs of a system, making it suitable for the application of an integrated robot joint system. The evolution of the candidate machine structure is shown in this article, followed by an analytical evaluation of cogging torque generation. Then, the optimization process is applied to the candidate topology to determine the optimal electromagnetic and geometric design parameters. Finally, a prototype based on the optimal topology is accordingly manufactured and experimentally verified. The test result shows a high-contrast cogging torque range of 101% of the rated torque.
Keywords:
Adjustable cogging torque
field modulation
high torque density
holding torque
outer rotor
permanent magnet (PM) machine
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