Abstract
Spherical motors rotating around multi-axes have advantageous features of making a compact system, easiness of control, and so on. A group of spherical motors that can rotate in 360 degrees is proposed by applying the working principle of planer stepping motors to spherical motors. This study develops a spherical motor that can rotate around 6 axes by arranging permanent magnets on the rotor at the apexes of a truncated octahedron and electro-magnets on the stator at either the apexes of a regular dodecahedron or the middle points of two apexes. This paper describes the structure, working principle of the spherical motor, five-phase AC power supply, and some preliminary results of rotation performance evaluation experiments.
