近年來工業自動化的蓬勃發展，在生產設備上之機械手臂需求日益增加，因此應用於機械手臂關節之伺服馬達必定佔有舉足輕重的影響，故對其性能與體積之要求更是錙銖必較。在此需求下，本文透過對沖式馬達高磁束集中因素之優勢再加上使用釹鐵硼磁鐵及磁障層設計提升馬達之轉矩密度並達到縮小馬達體積之效果。
此外本文亦針對對沖式馬達之轉子提出五次配裝後充磁設計，增加生產的便利性及降低時間成本。最後亦針對馬達及充磁座提出完整的設計流程並透過計算充磁座電阻電感配合充磁裝置之模擬電路完成馬達、充磁座與充磁機三者的匹配設計，並以實作進行驗證。

In recent years, the industrial requirements have been growing, consequently, the de-mand for robots in industry automation has increased.
Servo motors used for the joints of robot arms have a significant impact on the con-trol and performance of the machine. Therefore, the performance of the motor, such as motor response, torque and size must be considered by the designer to achieve the best performance.
Under these demands, this thesis focuses on the design of a high torque density motor with a spoke-type rotor topology due to its advantages of high magnetic flux concentration factor. The proposed motor utilizes NdFeB magnets, also magnetic flux barriers are de-signed in order to reduce the magnetic flux leakage of the rotor through the shaft and im-prove the performance.
In addition, this thesis also proposes a five times magnetizer for post-assembly mag-netization of spoke-type rotor topology, which simplifies the manufacturing and reduces production time.
Finally, a complete design process is proposed for the motor and the magnetizer de-sign. The designed spoke-type motor is magnetized using the proposed magnetizer. The magnetizing current of the magnetizer is previously calculated by utilizing the resistor and inductance of the magnetizer using Matlab. This process reduces the post-magnetization time and facilitate the procedure.

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