Design and Application of a Two Pole Spherical Permanent Magnet Motor

In this study, an air core spherical motor comprising a two pole permanent magnet rotor with 8 mm diameter and a multipole stator is designed by considering the ease of manufacturing priorities. Stator winding dimensions are calculated in a way to give maximum torque to the rotor analytically. Magnetic field distribution and torque values are calculated analytically. Stator coils in the yoke made from Delrin are positioned in proper values. Spherical motor with three poles stator and two poles rotor can move 44° up and down in 360° azimuthal angles without direct rotational movement in an open loop system and it is suitable to use in cascade in a robotic system.