Structural Design of A Novel Electromagnetic Driven Spherical Motion Generator

This paper introduces the structural design of a novel spherical motion generator. The electromagnetic drive mode of a spherical motor is applied to the three-degree-of-freedom (3-DOF) spherical parallel manipulator, in order to solve the problem of motion error caused by the transmission device and motor following in the traditional spherical parallel manipulator. A brief explanation of the electromagnetic drive working principle is mentioned. And the modeling of magnetic field and the optimization of magnetic field distribution are also discussed. In the future work, we will also optimize the magnetic field distribution of the platform and study the high-precision control strategy.