Create a concise technical/research presentation titled: **“High Torque Density PCB Axial Flux Permanent Magnet Motor for Micro Robots”** Target audience: M.Tech/PhD students, researchers, and faculty in electrical machines, robotics, and power electronics. Create ~15 slides with a clean academic/research style—not a business presentation. Use minimal text, technical diagrams, motor cross-sections, torque/thermal illustrations, equations, and highlighted numerical values. **Storyline:** 1. **Title** * Paper title * Authors: Jianren Wang et al. * IEEE ECCE 2025 2. **Conventional Robotic Joint Actuation** * Motor + high-ratio gearbox → robotic joint * Why high gear ratios are used 3. **Problems with High Gear Ratios** * Backlash, friction, poor backdrivability * Reflected inertia, poor torque transparency * Weight, size, and mechanical complexity * Explain impact on dynamic robots 4. **Quasi-Direct Drive (QDD)** * Very low gear ratio, typically ~1:1–10:1 depending on application * Compare conventional drive vs QDD * Emphasize backdrivability, torque transparency, low reflected inertia, dynamic response 5. **Challenge of QDD** * Lower gear ratio shifts torque demand to the motor * High-ratio gearbox → lower motor torque * QDD → much higher motor torque * Therefore: **high torque density is required** 6. **Why AFPM Motors?** * Large effective radius * Disc-shaped geometry * Short axial length * High torque density * Excellent robotic-joint packaging * Compare AFPM with radial-flux geometry 7. **AFPM Operation — Simple** * PM rotor + current-carrying stator * Magnetic interaction produces tangential force and torque * Show cross-section * **T = F × r** 8. **QDD Torque Requirements** * Introduce **continuous torque** and **stall/peak torque** * Robots often require high torque at low or zero speed 9. **Continuous Torque** * Sustained torque without exceeding thermal limits * **Pcu = I²R** * Higher torque → higher current → higher copper loss → higher temperature 10. **Stall Torque** * Rotor speed = 0: **ω = 0** * Mechanical power: **Pmech = Tω = 0** * Copper losses continue: **Pcu = I²R** * Rapid heating can limit stall torque * Clearly distinguish stall torque from short-duration peak torque 11. **Why Torque at Standstill Matters** * Standing, holding payloads, posture control * Robotic arms supporting loads * Resisting external forces * Leg acceleration * Connect directly to QDD operation 12. **Thermal Challenge** * High torque → high current → I²R heating * Heat generation vs heat removal * Show winding/stator thermal path * Explain why thermal management determines continuous/stall capability Use consistent terminology, readable equations, realistic motor diagrams, and avoid excessive bullet text.
Create a concise technical/research presentation titled:
**“High Torque Density PCB Axial Flux Permanent Magnet Motor for Micro Robots”**
Target audience: M.Tech/PhD students, researchers, and faculty in electrical machines, robotics, and power electronics.
Create ~15 slides with a clean academic/research style—not a business presentation. Use minimal text, technical diagrams, motor cross-sections, torque/thermal illustrations, equations, and highlighted numerical values.
**Storyline:**
1. **Title**
* Paper title
* Authors: Jianren Wang et al.
* IEEE ECCE 2025
2. **Conventional Robotic Joint Actuation**
* Motor + high-ratio gearbox → robotic joint
* Why high gear ratios are used
3. **Problems with High Gear Ratios**
* Backlash, friction, poor backdrivability
* Reflected inertia, poor torque transparency
* Weight, size, and mechanical complexity
* Explain impact on dynamic robots
4. **Quasi-Direct Drive (QDD)**
* Very low gear ratio, typically ~1:1–10:1 depending on application
* Compare conventional drive vs QDD
* Emphasize backdrivability, torque transparency, low reflected inertia, dynamic response
5. **Challenge of QDD**
* Lower gear ratio shifts torque demand to the motor
* High-ratio gearbox → lower motor torque
* QDD → much higher motor torque
* Therefore: **high torque density is required**
6. **Why AFPM Motors?**
* Large effective radius
* Disc-shaped geometry
* Short axial length
* High torque density
* Excellent robotic-joint packaging
* Compare AFPM with radial-flux geometry
7. **AFPM Operation — Simple**
* PM rotor + current-carrying stator
* Magnetic interaction produces tangential force and torque
* Show cross-section
* **T = F × r**
8. **QDD Torque Requirements**
* Introduce **continuous torque** and **stall/peak torque**
* Robots often require high torque at low or zero speed
9. **Continuous Torque**
* Sustained torque without exceeding thermal limits
* **Pcu = I²R**
* Higher torque → higher current → higher copper loss → higher temperature
10. **Stall Torque**
* Rotor speed = 0: **ω = 0**
* Mechanical power: **Pmech = Tω = 0**
* Copper losses continue: **Pcu = I²R**
* Rapid heating can limit stall torque
* Clearly distinguish stall torque from short-duration peak torque
11. **Why Torque at Standstill Matters**
* Standing, holding payloads, posture control
* Robotic arms supporting loads
* Resisting external forces
* Leg acceleration
* Connect directly to QDD operation
12. **Thermal Challenge**
* High torque → high current → I²R heating
* Heat generation vs heat removal
* Show winding/stator thermal path
* Explain why thermal management determines continuous/stall capability
Use consistent terminology, readable equations, realistic motor diagrams, and avoid excessive bullet text.
Created using ChatSlide
This document explores the evolution from traditional motor-gearbox systems to QDD technology, highlighting issues like backlash and inertia. It delves into the fundamentals of AFPM, emphasizing its high torque density and the mechanics of torque production. Additionally, it outlines research directions for PCB-AFPM, focusing on advancements in HDI windings and the importance of thermal analysis in validating torque density, ultimately stressing that effective torque management necessitates...