Basic experimental results of a 14-12 spherical motor

Spherical motors have been studied widely because they have several advantageous features and are applicable to driving mechanisms of holonomic mobile robots, joints of robots, and so on. This study develops a 14-12 spherical motor and evaluates cogging torque and rotation torque for the rotation around one of two kinds of rotation axes. This paper describes the structure of the developed 14-12 spherical motor, working principle of rotation by five-phase alternative current (AC), and some evaluation results of rotation performance. The evaluation results of rotation torque exhibit the applicability of the 14-12 spherical motor.