A Study on Holding Torque Improvement of Three-Degree Of freedom Spherical Motor

3-자유도 구형모터의 홀딩토크 개선 연구

The spherical motor is an electric machine which is able to tilt its shaft on 3-dimensional space as using electromagnetic force. Recently a permanent magnet is remarkable material for applying electric machinery, because of high magnetic flux density. In this paper, a spherical motor, which has permanent magnet on its rotor, is researched. As known, the spherical motor has a special feature as 3 degrees of freedom (D.O.F) operation. This performance can be realized by using electromagnetic torque between coils and magnets. Therefore, in this paper, a permanent magnet spherical wheel motor is introduced and performance characteristics are analyzed for improving of operation stability.