Analysis of Winding Configurations and End Magnetic Leakage Shielding in Joint Motors

This paper presents a new high power density permanent magnet brushless DC motor structure. It places the Hall element in the motor’s slots which ensures the normal operation of the motor and shortens the axial length of the motor. Since the precision of the magnetoelectric encoder in the control unit of mechanical arms is highly required, it is necessary to analyze the magnetic leakage density at its location. Adding magnetic shielding measures at the end of the motor windings can ensure smooth operation of the mechanical arms. It’s verified by finite element analysis and calculation.