Optimization of torque occillations of robot servomotor by skewing rotor

This paper aims to study the skewing of a servomotor for robot application. Skewing motor helps to reduce torque oscillations, noises, and harmonics of electromotive force. However, the average torque at a steady state is lower than without a skewing design. The finite element analyses are performed at peak torque operating points to compare both motor designs without and with the skewing rotor. A prototype of a servomotor with skewing rotor is produced and put through testing on a test bench. The suggested motor design is validated by experimental results.