Abstract
A small spherical stepping motor with two degrees of freedom is developed. The motor is composed of two sub stepping motors. Each sub motor is the two-phase permanent-magnet bipolar linear stepping type and the shape is semi-circle. The rotational axes of two sub motors cross at the same point, and this structure enables the developed motor to move in any direction. The experimental results show that the developed motor can hold the output shaft in any direction and has high positioning accuracy. The size of the motor is 75x75x68 [mm], which volume is less than 1/10 of the late developed spherical motor. This motor will be applied to the robotics eye with small CCD camera.
