Using mathematical method of torque simulation for reducing calculation time of permanent magnet spherical wheel motor

These days robot-industry development requires a new motor technology. Robot system is more complex than the other machine ones. They need the simplicity and light weight as robot systems. Moreover they have to become a high energy efficiency machine. For these reasons the 3-degrees of freedom permanent-magnet spherical motor is proposed instead of existing ones in this paper. The proposed motor model is analyzed by using FEA(finite element analysis) for comparing the results. Torque of the motor is simulated by derived torque function.