Optimal Split Ratio in Double-Stator Permanent-Magnet Motors Considering Loss Limitations for Robot Joint Applications
Recently, humanoid robots with personification behavior and high working efficiency have received significant attention. Meanwhile, high-torque-density motors, which serve as the core power source for robot joints, have also been widely researched. In this paper, a high-torque-density double-stator...
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MDPI AG
2025-07-01
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| Series: | Energies |
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| Online Access: | https://www.mdpi.com/1996-1073/18/14/3594 |
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| author | Tianran He Yang Shen Wei Li Dawei Liang |
| author_facet | Tianran He Yang Shen Wei Li Dawei Liang |
| author_sort | Tianran He |
| collection | DOAJ |
| description | Recently, humanoid robots with personification behavior and high working efficiency have received significant attention. Meanwhile, high-torque-density motors, which serve as the core power source for robot joints, have also been widely researched. In this paper, a high-torque-density double-stator permanent-magnet (DSPM) motor is designed for robot joint applications, and its outer stator (OS) split ratio (the ratio between the inner and outer diameters of the OS) and inner stator (IS) split ratio (the ratio between the inner and outer diameters of the IS) are analyzed and optimized. Since the DSPM motor has different heat dissipation capabilities for the OS and IS, their different loss limitations should be considered to avoid the risk of local overheating, especially for the IS. This paper shows that the loss limitations affect the optimal OS and IS split ratios, as well as the maximum average torque. The IS loss limitation increases the optimal OS split ratio and decreases the optimal IS split ratio; however, the OS loss limitation has the opposite effect. Additionally, an investigation into the electromagnetic characteristics of the optimized DSPM motor was conducted using the finite element method. Finally, a prototype was manufactured, and the results of the temperature rise experiments verified the feasibility of the proposed DSPM motor and the effectiveness of the optimal method. |
| format | Article |
| id | doaj-art-2e808472b15341e09892b827a75da4a3 |
| institution | DOAJ |
| issn | 1996-1073 |
| language | English |
| publishDate | 2025-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Energies |
| spelling | doaj-art-2e808472b15341e09892b827a75da4a32025-08-20T03:08:01ZengMDPI AGEnergies1996-10732025-07-011814359410.3390/en18143594Optimal Split Ratio in Double-Stator Permanent-Magnet Motors Considering Loss Limitations for Robot Joint ApplicationsTianran He0Yang Shen1Wei Li2Dawei Liang3School of Electronic and Information Engineering, Tongji University, Shanghai 200092, ChinaStrategic Assessment & Consultation Institute of AMS, Beijing 100071, ChinaSchool of Electronic and Information Engineering, Tongji University, Shanghai 200092, ChinaElectrical Machines and Drives Group, The University of Sheffield, Sheffield S10 2TN, UKRecently, humanoid robots with personification behavior and high working efficiency have received significant attention. Meanwhile, high-torque-density motors, which serve as the core power source for robot joints, have also been widely researched. In this paper, a high-torque-density double-stator permanent-magnet (DSPM) motor is designed for robot joint applications, and its outer stator (OS) split ratio (the ratio between the inner and outer diameters of the OS) and inner stator (IS) split ratio (the ratio between the inner and outer diameters of the IS) are analyzed and optimized. Since the DSPM motor has different heat dissipation capabilities for the OS and IS, their different loss limitations should be considered to avoid the risk of local overheating, especially for the IS. This paper shows that the loss limitations affect the optimal OS and IS split ratios, as well as the maximum average torque. The IS loss limitation increases the optimal OS split ratio and decreases the optimal IS split ratio; however, the OS loss limitation has the opposite effect. Additionally, an investigation into the electromagnetic characteristics of the optimized DSPM motor was conducted using the finite element method. Finally, a prototype was manufactured, and the results of the temperature rise experiments verified the feasibility of the proposed DSPM motor and the effectiveness of the optimal method.https://www.mdpi.com/1996-1073/18/14/3594double-stator permanent-magnet motorelectromagnetic performancehigh torque densitysplit ratio |
| spellingShingle | Tianran He Yang Shen Wei Li Dawei Liang Optimal Split Ratio in Double-Stator Permanent-Magnet Motors Considering Loss Limitations for Robot Joint Applications Energies double-stator permanent-magnet motor electromagnetic performance high torque density split ratio |
| title | Optimal Split Ratio in Double-Stator Permanent-Magnet Motors Considering Loss Limitations for Robot Joint Applications |
| title_full | Optimal Split Ratio in Double-Stator Permanent-Magnet Motors Considering Loss Limitations for Robot Joint Applications |
| title_fullStr | Optimal Split Ratio in Double-Stator Permanent-Magnet Motors Considering Loss Limitations for Robot Joint Applications |
| title_full_unstemmed | Optimal Split Ratio in Double-Stator Permanent-Magnet Motors Considering Loss Limitations for Robot Joint Applications |
| title_short | Optimal Split Ratio in Double-Stator Permanent-Magnet Motors Considering Loss Limitations for Robot Joint Applications |
| title_sort | optimal split ratio in double stator permanent magnet motors considering loss limitations for robot joint applications |
| topic | double-stator permanent-magnet motor electromagnetic performance high torque density split ratio |
| url | https://www.mdpi.com/1996-1073/18/14/3594 |
| work_keys_str_mv | AT tianranhe optimalsplitratioindoublestatorpermanentmagnetmotorsconsideringlosslimitationsforrobotjointapplications AT yangshen optimalsplitratioindoublestatorpermanentmagnetmotorsconsideringlosslimitationsforrobotjointapplications AT weili optimalsplitratioindoublestatorpermanentmagnetmotorsconsideringlosslimitationsforrobotjointapplications AT daweiliang optimalsplitratioindoublestatorpermanentmagnetmotorsconsideringlosslimitationsforrobotjointapplications |