The invention discloses a
magnetic field modulation motor
magnetic circuit structure for a
robot arm joint, and relates to the technical field of robots, more permanent magnets are adopted, more
harmonic magnetic fields are generated through
magnetic field modulation, although the
harmonic magnetic fields cannot be seen,
electromagnetic torque is actually generated to participate in the electromechanical energy conversion process, and the
mechanical energy conversion efficiency is improved.
Harmonic waves include third-order
harmonic waves, fifth-order harmonic
waves, seventh-order harmonic waves,... 2k + 1-order harmonic waves, generation of the harmonic waves actually enables the equivalent
pole number of the motor to be increased, and therefore the rotating speed is reduced, electromagnetic
speed reduction of a traditional
servo motor can be achieved, the output rotating speed of a motor rotor shaft is reduced, torque is greatly improved, a speed
reducer can be omitted, or the speed ratio of the speed
reducer can be greatly reduced. Therefore, the technical threshold of mechanical manufacturing is reduced, low-speed direct drive and large-torque output of the motor are achieved, the transmission structure is greatly simplified, the weight of the transmission structure is reduced, and the dynamic
response capacity and control precision of the
system are improved.