机器人关节电机对电机的过载能力、电机重量、响应速度有较高的要求，而传统的力矩电机转子外径较大，转子重量和转动惯量较大，响应慢。基于Halbach阵列设计了一款机器人用关节电机，利用了Halbach阵列的磁屏蔽作用。使用非导磁铝合金作为转子轭部的材料，降低了转子的质量和转动惯量，提高了电机的响应速度。分析了Halbach阵列的优势，列举了几种常见的Halbach阵列结构，确定了电机的尺寸参数。通过电磁场有限元仿真分析了基于Halbach阵列的机器人关节电机的磁钢尺寸对电机性能的影响。最终通过试验验证了该技术的有效性。

Robot joint motors have higher requirements for the motor′s overload capacity, motor weight and response speed. However, the traditional torque motor has larger rotor outer diameter, rotor mass and moment of inertia, and thus slower response. Based on the Halbach array, a joint motor for robots is designed. The magnetic shielding effect of the Halbach array is utilized, and non-magnetic aluminum alloy is used as the material of the rotor yoke, so as to reduce the mass and moment of inertia of the rotor and improve the response speed of the motor. The advantages of Halbach array are analyzed. Several common Halbach array structures are listed. The size parameters of the motor are determined. The influence of the size of the magnetic steel based on the Halbach array on the performance of the motor is analyzed by the electromagnetic field finite element simulation. Finally, the effectiveness of the technology is verified by experiments.