Magnetic field analysis of a hybrid excitation multi-degree-of-freedom spherical motor.

A hybrid excitation multi-degree-of-freedom spherical motor (HE-MDOFSM) is designed, which can achieve MDOF motion by cooperatively controlling the excitation current in 12 sets of stator windings. The designed motor has the advantages of high power density and a large motion range. In addition, because the designed motor has an irregular three-dimensional (3D) structure, it is difficult to perform dynamic magnetic field calculations with existing methods.