Motion analysis and control of the hybrid multi-DOF motor with taking account on design of motor shape

This paper proposes new type multi-DOF motor called Hybrid multi-DOF motor. Unlike spherical motor, this multi-DOF motor has cylindrical shape. Also it has two separated motors to handle the rotating and tilting motion independently. The outer motor is used for rotating movement, and the inner motor is used for tilting movement. The hybrid motor and its two separated motors are shown. A hybrid multi-DOF motor is shown. It is composed of an outer motor and an inner motor. The outer motor is for 1-DOF rotating motion and it is outer-rotor type 3-phases BLDC motor. Also the design of the outer motor is not difficult because it is totally separated from the inner motor. Another motor in the hybrid multi-DOF motor is the inner motor. This motor is for tilting motion with 2-DOF. For the 2-DOF motion, it has 2-pairs of PMs(Permanent Magnets) and coils. The PMs is on the rotor. Also, the coils is on the support plate(stator). The rotor and the stator are connected by an universal joint. The universal joint helps the 2-DOF tilting motion smooth. Meanwhile, two opposite coils and PMs can make same direction torque.