## 1 Introduction
In 2021, [PERSON], [PERSON], and other researchers conducted a 3D multiphysics analysis of the axial flux permanent magnet motor in electric vehicles, investigating the motor's performance, thermal behavior, and electromagnetic forces [15]. The optimization of AFPMM performance has been a significant area of focus in recent years. In 2013, [PERSON] and [PERSON] combined finite element and analytical methods for the simulation modeling and calculation of AFPMMs and applied sequential quadratic programming optimization algorithms to optimize the shape and size parameters of the AFPMM rotor magnets, effectively reducing harmonic content in the air gap magnetic flux density [16]. In 2014, [PERSON], [PERSON], and [PERSON] developed a fast 3D electromagnetic simulation method to address the time constraints of 3D modeling while simultaneously studying methods to minimize cogging torque in axial motors [17]. In 2015, [PERSON], [PERSON], and other researchers studied the temperature rise issues of axial flux motors and analyzed the effects of liquid cooling systems on thermal distribution using computational fluid dynamics. Their study employed a 100 kW single-rotor, double-stator axial flux generator as an example [18]. In 2016, [PERSON] and [PERSON] proposed an optimization design method for the axial flux permanent magnet motor in electric vehiclesbased on driving scenarios. The goal was to reduce energy consumption by minimizing the motor's weight and the frequency of operation points during driving cycles [19]. In 2017, [PERSON] and [PERSON] proposed an optimized design algorithm for a surface-mounted-magnet dual-sided toroidal-slotless axial flux permanent-magnet motor. Using a particle swarm optimization algorithm, they achieved maximum machine efficiency and power density, demonstrating the feasibility of the design through MATLAB simulations [20]. In 2018, [PERSON], [PERSON], and [PERSON] introduced a sliding mode vector control system for the axial flux permanent magnet synchronous motor (AFPMSM) in electric vehicles. By optimizing control strategies in conjunction with fuzzy control, they improved torque ripple, thus enhancing the high-efficiency range and driving range of electric vehicles [21]. In 2020, [PERSON] and [PERSON] introduced the counter-rotating concept--commonly used in ships and helicopters--into AFPMM design and manufacturing, targeting applications in wind power systems [22,23]. In 2024, [PERSON], [PERSON], and other researchers employed Differential Evolution and Cuckoo Search algorithms to optimize and compare the torque performance of the axial flux permanent magnet motor. Their approach effectively reduced cogging torque, increased average output torque, and reduced torque ripple [24]. In response to the design requirements for motors used in electric drive joints of mechanical dogs, this paper proposes a high-torque-density, high-power-density axial flux permanent magnet motor electromagnetic scheme to enhance the torque density. A three-dimensional finite element model was developed using Maxwell software to perform electromagnetic simulations under static and transient conditions. Additionally, losses in various electromagnetic components were analyzed. The Maxwell tensor method was employed to establish an electromagnetic torque model, identify the effects of key structural parameters on torque, and optimize the motor's design for torque density. Finally, a prototype was fabricated, and its performance was validated through torque testing. It is hoped that the AFPMM scheme will provide certain reference value for the design of motors used in electric drive joints of mechanical dogs, enhancing their performance and efficiency in executing complex tasks and movements.