Abstract
The articulated motor is a significant part of the research of quadruped robots with electric drives. This article uses software simulation to study the method of design on the articular motor body, which contains the brushless permanent magnet motor of the external rotor and the NGW planetary reducer. Therefore, electromagnetic design based on motor-CAD and NGW reducer design based on Kisssoft has been completed. It is proven that the proposed design method of the motor body is feasible and reliable by the prototype.