Characteristic of torque on spherical stepping motor based on hexahedron-octahedron structure

In this study, in order to make an application as a mechanical system such as a joint of a humanoid robot or an industrial robot, a novel spherical stepping motor based on a pair of a regular hexahedron and regular octahedron is developed. This paper shows the structure and the driving principle of the proposed spherical stepping motor, firstly. We then present the characteristics of the proposed spherical stepping motor, such as the static torque characteristic, the relationship between the current and the torque and torque characteristic for the material by using the 3D electromagnet and motion coupled simulation program. The movement of rotor around the Z axis for the applied sinusoidal wave current was confirmed, and torque was linearly increased with the increasing of current at the calculated current frequency and initial velocity of rotor.