Optimized Design of Improved Permanent Magnet Synchronous Motor for Articulated Robot Using the Penalty Function Method and Response Surface Methodology

In this paper, an improved motor is presented for a smart, vertical, multi-joint robot actuator. The motor design was optimized using methodologies such as the penalty function method (PFM) and response surface methodology. To improve its performance, different pole-slot combinations were applied considering its electrical and mechanical characteristics. Using 2D finite element analysis, results were compared from a previous model and a newly proposed model. The experimental results confirmed that the proposed model achieved improved performance at the rated point.