Research on A Back-to-Back Consequent-Pole Axial-Flux Permanent Magnet Synchronous Motor for Legged Robot’s Joint Drive Application

Driven by the rapid development needs of legged robots in China, this project proposes and investigates a novel back-to-back alternating pole axial permanent magnet synchronous motor structure for legged robot joint actuators. This technical solution offers higher torque density, which can reduce the reduction ratio of precision reducers used in legged robot joint drives. This approach not only decreases reliance on precision reducer technology and lowers production costs but also enhances the load capacity, control precision, and response speed of legged robots, balancing economic efficiency with high reliability. The research concept of this project is illustrated in Figure 1.

In summary, this project aims to research high-performance back-to-back alternating pole axial permanent magnet synchronous motor technologies for legged robot drives. This research is of great significance for breaking foreign monopolies in the robotics industry and improving the quality and competitiveness of domestic robotic products in China. Specifically, the key research areas of this project can be summarized as follows:

1. Investigating a new topology scheme for back-to-back alternating pole axial permanent magnet synchronous motors for legged robot drives.

2. Developing high-precision analytical modeling and structural optimization methods suitable for alternating pole axial permanent magnet synchronous motors.

3. Researching robust control algorithms based on neural networks, with the alternating pole axial permanent magnet synchronous motor as the control target.