Optimization Design of a Surface Permagnent Magnet Synchronous Motor for Colaboration robot’s joint application

Abstract

This paper optimized the surface permanent magnet synchronous motor (SPMSM) using genetic algorithm (GA) for collaboration robot arm joints application. The optimal variables are modeled according to the motor dimensions. The algorithm has significantly improved motor torque performance, with torque ripple reduced to 2.15% and the torque magnitude increased to 1.81Nm. The evaluation results are analyzed on Jmag simulation software. With the optimal motor dimensions, the prototype of SPMSM is manufactured, tested with the testing system including a dynamometer and power analyzers.