||This work presents a novel design procedure for integrated permanent-magnet rotating electric motors with
gear mechanisms. A DC commutator motor and a planetary gear mechanism are used as an example. Based
on the design requirements and constraints, the detailed design of the rotor and stator are obtained. A 1-D
equivalent magnetic circuit method is applied to analyze the integrated device performance and is verified
by FEM software. The design methods for gear trains, gear profiles, numbers of gear teeth, and gear strength
are also introduced. Finally, a feasible integrated device is presented that reduces the cogging torque and the
torque ripple by 92.02 and 50.14%, respectively, while increasing the torque density by 16.66%.