A two-degree of freedom spherical motor

Abstract

In this paper, a direct-drive spherical motor to produce two-degree of freedom rotations has been proposed. The structure and prototype of the motor are given and the basic principles are described, including the operation principle and mathematic theories, etc. Importantly, the two air gaps between the mover and the rotor, the mover and the stator that mainly determine the performance of the motor are analyzed through the magnetic circuit method. Finite element analysis (FEA) is used to calculate some parameters of the motor and torque outputs from the two dimensions as well. The simulation results illuminate the effectiveness and feasibility of the motor proposed.