Magnetic field analysis of electromagnetic spherical actuators with multiple radial poles

This paper proposes a multiple degree-of-freedom (3-DOF) spherical actuator with novel three-dimensional (3D) pole patterns. Compared with conventional 2D pole patterns, the 3D pole patterns can significantly increase the magnetic flux density in winding areas, which in turn helps to improve the force/torque output performance of the system. A design concept of the spherical actuators with 3D pole configurations is introduced in this study. The magnetic field in the actuator is simulated with numerical method, and presented in 3D surfaces. The obtained results can validate the design concept and help the subsequent force analysis and sensing system design.