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Design and Analysis for Three Phase Meshing Gear Motor

In order to reduce volume of robot actuator, a novel gear meshing motor with three phase poles was presented. The rotors and external gears are connected as one part by which the external gears are driven meshing with fixed internal ring gear to output big torque. The torque is convenient to be controlled for its separated magnetic poles without magnetic coupling. The operation principle and magnetic field characteristics were analyzed and the control method was introduced. The finite element software Ansof.Maxwell is used to simulate and calculate the flux linkage where rotor was at different positions, and the static torque obtained directly through magnetic coenergy method. The simulation results verify that output torque of designed motor can reach 1.9Nm under 4A current.