Abstract
This article proposes a novel spherical motion generator with integration of multi-degree-of-freedom actuation which brings out a more compact and flexible structure. The actuation is implemented by electromagnetic driving principle, and the spherical rotation is generated by the interaction between the iron-core coils and skewed stator permanent magnets, which helps increase the torque output. The magnetic field model is formulated analytically and validated using finite-element analysis. Finally, the cogging torque is modeled and the skewing of permanent magnets is discussed.
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