This paper analyzes the electromechanical characteristics of a novel shell-like spherical
induction machine with multiple degrees-of-freedom (DOF), formed by a shell stator and a …

This paper presents an alternative method utilizing real-time measurements of existing rotor
magnetic field in the feedback loop for multi degree-of-freedom (DOF) orientation control of a …

As a device characterized by multiple degrees of freedom in one driving unit, analytical
electromagnetic torque modeling is needed for the rotor position tracking control of a …

This paper proposes a novel tiered type permanent magnet spherical motor (T-PMSPM) of
which the output torque is relatively higher than that of the most existing spherical motors …

This paper proposes a monolayer Halbach array based permanent magnet spherical motor
(PMSpM) using cubic permanent magnets (PM). The research aims to provide a fast …

In robotics and haptics, actuators that move at multiple degrees of freedom (DOFs) without
the intermediate transmission mechanisms and have high force/torque output with compact …

This paper presents the rotor design optimization for a reaction sphere (RS) actuator. The
RS is a permanent-magnet synchronous spherical actuator whose rotor is magnetically …

Magnet arrangement is important for the design of electromagnetic actuators. One novel
spherical actuator with a two-dimensional (2-D) longitudinal camber Halbach array and an …

In order to facilitate a ball-joint-like spherical motor to operate with positioning systems to
offer cascaded 6-DOF motion, a control method for precisely manipulating the spherical …

Permanent magnet spherical actuators (PMSAs) become a hot research topic due to their
characteristic of realizing multidegree-of-freedom rotation within a single joint. The magnet …