Modeling and analysis of non-circumferential symmetric permanent magnet spherical motor using genetic algorithm-based torque map method.

A permanent magnet spherical motor (PMSpM) is a typical multiple-degree-of-freedom apparatus. This paper proposes a torque map-based torque model and its counterpart using a genetic algorithm for the PMSpM with non-circumferential symmetric permanent magnets. The basic structure and operating principle of the PMSpM under study are presented.