隨著機器人技術快速發展，關節驅動系統的性能對機器人運動能力具有重要影響。目前機器人關節多採用永磁馬達搭配機械式減速機，以滿足低速高轉矩之需求，然而傳統機械式齒輪透過直接接觸進行動力傳遞，長時間運轉容易產生磨耗、振動、噪音及潤滑等問題，受到瞬間衝擊時可能造成傳動元件損壞。相較之下，磁性齒輪具有非接觸式傳動與過載保護等特性，因此具有應用於機器人關節驅動系統之潛力。
本研究提出一種永磁游標馬達結合同心型磁性齒輪之一體化機器人關節驅動架構，將馬達之電磁能量轉換與磁性齒輪之減速功能整合於同一驅動模組。磁性齒輪設計方面，針對減速比進行分析，並將平均轉矩、頓轉轉矩與轉矩漣波納入設計考量，透過非整數減速比配置改善轉矩脈動，以兼顧減速效果與運轉平穩性。游標馬達則依據機器人關節之尺寸與輸出需求進行槽極配置、繞組及定子裂齒設計，以提升有限體積下之轉矩輸出能力，並透過有限元素分析驗證其電磁特性。
在系統整合方面，本研究採用同軸一體化架構，並藉由磁路隔離設計降低游標馬達與磁性齒輪之間的磁場干擾。最後完成一體化機構之實體製作與組裝。實驗結果顯示，實測三相反電動勢與模擬分析具有相近趨勢，驗證所提出之一體化架構具有實際製作與應用之可行性，可作為未來機器人關節非接觸式驅動系統設計之參考。

With the rapid development of robotics technology, the performance of joint drive systems has become an important factor affecting the motion capability of robots. At present, robot joints commonly employ permanent-magnet motors combined with mechanical gear reducers to meet the requirements of low-speed and high-torque operation. However, conventional mechanical gears transmit power through direct physical contact, which may result in wear, vibration, noise, and lubrication requirements during long-term operation. In addition, sudden impacts may cause damage to transmission components. In comparison, magnetic gears provide the advantages of non-contact power transmission and inherent overload protection, making them a promising solution for robotic joint drive systems.
This study proposes an integrated robotic joint drive architecture that combines a permanent-magnet vernier motor with a coaxial magnetic gear , integrating the electromagnetic energy conversion of the motor and the speed reduction function of the magnetic gear into a single drive module. For the magnetic gear design, different gear ratios are analyzed, while average torque, cogging torque, and torque ripple are considered as key design criteria. A non-integer gear ratio is adopted to reduce torque pulsation while maintaining the required speed reduction capability and smooth operation. For the vernier motor, the slot-pole combination, winding configuration, and stator split-tooth structure are designed according to the dimensional constraints and output requirements of robotic joints to improve torque capability within a limited volume. Finite element analysis is subsequently conducted to verify the electromagnetic characteristics of the proposed motor.
For system integration, a coaxial integrated configuration is adopted, together with a magnetic-circuit isolation design to reduce magnetic-field interference between the vernier motor and the magnetic gear. Finally, the integrated prototype is fabricated and assembled. Experimental results show that the measured three-phase back electromotive force exhibits a trend similar to that obtained from simulation analysis. These results demonstrate the practical feasibility of the proposed integrated architecture and indicate its potential as a reference for the future development of non-contact robotic joint drive systems.

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