An approach to basic design of the PM-type spherical motor

The authors propose a spherical electromagnetic actuator using a surface motor. The main feature of this actuator is the ability to arrange the magnetic poles uniformly by distributing the stator´s magnetic poles in triangular lattice. In this paper, we report the fundamental structure of this actuator and the secondary side permanent magnets arrangement, and we measure the thrust force characteristics of one phase excitation. The measurement result shows that the detent force distorts the thrust force waveform of one phase excitation.