Simulation of rotation behavior of a 14-12 spherical motor

A spherical motor called as the 14-12 spherical motor has been developed. The motor rotates around two kinds of rotation axes and totally six rotation axes. The previous studies presented its structure, working principle of rotation by five-phase alternative currents (ACs), and experimental evaluation results of rotation torque and cogging torque around rotation axes. A numerical simulation is a strong tool to estimate dynamic rotation behavior of the motor and to investigate optimum values of design parameters. This study constructs a simulation model of the 14-12 spherical motor and conducts several simulations of rotation behavior by a software package to simulate magnetic field coupling with motion.