3 Axes rotational and frequency characteristics of a hexahedron-octahedron based spherical stepping motor

We have been developed a novel spherical stepping motor (6–8 spherical stepping motor) which is based on a pair of a regular hexahedron and octahedron in order to make an application as a mechanical system such as a joint of a humanoid robot or an industrial robot. In this study, the rotational characteristics on the 6–8 spherical stepping motor were obtained by the 3D electromagnet and motion coupled simulation. As the result, the static torque characteristic, the frequency-velocity characteristic and torque characteristic around 3-axes were described.