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This paper presents novel overlapping ironless windings for permanent magnet planar motors, which have high winding factors and make full use of the magnetic field of the magnet array in the planar motor. A simple analytical model of the planar motors is developed and validated by finite-element method first. Then the winding factors of the ironless windings are derived and used to simplify the analytical model. Furthermore, the design rules of the ironless windings for the planar motor are obtained from the analytical model with winding factors and the ironless windings are optimized for maximum steepness of the planar motor. Compared with the nonoverlapping ironless windings, the novel overlapping ironless windings have a much (up to 25%) larger force with the same copper loss and nearly the same size when the coils of the windings have a large length/width ratio.