Optimization Design of Parallel Double Stator and Outer Mover Linear Rotary Permanent Magnet Machine Used for Drilling Robot

In order to meet the requirement of the drilling robot, a parallel double stator and outer mover linear rotary permanent magnet machine is proposed, which combines an outer rotor vernier machine (ORVM) and a cylindrical outer rotor linear vernier machine (CORLVM) by using a special support mechanism. The electromagnetic and mechanical structure optimization design is analyzed by 3-D finite element method (FEM) in the paper, including the design of ORVM and CORLVM, the stress calculation of support mechanism and the loss calculation. Then the optimized values of structure parameters are obtained. Compared with the results of the initial topology analyzed by 3-D FEM, the torque and thrust are improved and the amplitudes of the cogging torque and detent force are reduced. The combined structure design has the advantages of two different motors, which can provide a reference for the research of this type of motor.