ArticleBiomimetics (Basel, Switzerland)2026
Comparative Analysis of High-Torque-Density Permanent Magnet Motors Having Similar Slot and Pole Numbers for Humanoid Robot Applications.
Article in Biomimetics (Basel, Switzerland), 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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Abstract
The conventional robotic position control is gradually being replaced by force control, which is commonly used in humanoid robot applications that require force interaction with the environment, force transmission, or contact. A high-back-drive-efficiency actuator with a high-torque-density permanent magnet motor connecting the low-ratio planetary reducer is widely applied in interactive robotic systems without a torque/force sensor. This paper proposes a high-torque-density permanent magnet motor with an external rotor structure, which can realize torque enhancement by the increased air-gap diameter and better space utilization by the internal planetary reducer, i.e., the reducer inside the stator. First, the motor topologies with different slot/pole number combinations are introduced. Then, the optimization of a slot/pole number combination is elaborated for the maximum torque and torque mass density. In addition, the influence of the slot/pole number combination on the torque characteristic and overload capability is investigated by the finite element (FE) method. The experimental results of the prototype motor are provided to verify the analysis.
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