A Performance Study on a Permanent Magnet Spherical Motor

To realize the multi-Degree-of-Freedom (multi-DOF) movement, researches on spherical motor have been conducted in many countries. The Spherical motor has a 3-DOF, whose shaft can not only rotate as rotary motor but also tilt in the 2-DOF space. Researches on spherical motor will greatly contribute to 3-DOF systems, because spherical motor can reduce the size and weight of 3-DOF systems. This paper studies a new type of spherical motor that has rotating coils and tilting coils. Also, the current function depending on shaft angles is proposed. Finally, the torque is calculated corresponding to different shaft angles and rotating speeds. Moreover, these performances are validated via experiments.