A Study on the Design of Novel Slotless Axial Flux Motor Through Comparison with Radial Flux Motor for Collaborative Robot

This paper shows a comparison of characteristics when designing a motor for a collaborative robot by changing PMSM (Permanent Magnet Synchronous Motor) type from a slotless RFM (Radial Flux Motor) to AFM (Axial Flux Motor). First, RFM with a novel slotless coil is introduced. Constraints of novel slotless AFM for equivalent comparison are selected. The shape is determined based on the size equation of AFM and FEA (Finite Element Analysis) results to maximize power and efficiency within constraints. Finally, by comparing the characteristics of AFM and RFM through FEA, the advantages of applying AFM are confirmed.