Abstract: Permanent magnet synchronous motors are widely used in the field of servo drives, but their torque density is difficult to improve further. However, permanent magnet vernier servo motors based on magnetic field modulation principle make it possible. Among them, the magnetization effect of the spoke-type permanent magnet vernier servo motor gives it the advantage of high torque density. However, the flux barrier effect of the motor seriously restricts the improvement of output performance. Therefore, this paper proposes a consequent pole spoke vernier motor with auxiliary permanent magnets, aiming to analyze the mechanism of the flux barrier effect, and through the topological optimization design of the combination of alternating poles, auxiliary permanent magnets, magnetic barriers, and magnetic bridges, an effective magnetic path is provided for the low pole pair magnetic flux, suppressing the above-mentioned magnetic flux barrier effect, thereby improving the torque density and output performance of the motor. On this basis, a prototype was produced and verified, which further confirmed the correctness of the above analytical calculation and the effectiveness of the proposed structure in suppressing the magnetic flux barrier effect, providing a basis for high-quality servo motor topology selection and performance optimization design.