A two-degree of freedom spherical motor

Y. Zou, K. W.E. Cheng

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review


In this paper, a direct-drive spherical motor to produce two-degree of freedom rotations has been proposed. The structure and prototype of the motor are given and the basic principles are described, including the operation principle and mathematic theories, etc. Importantly, the two air gaps between the mover and the rotor, the mover and the stator that mainly determine the performance of the motor are analyzed through the magnetic circuit method. Finite element analysis (FEA) is used to calculate some parameters of the motor and torque outputs from the two dimensions as well. The simulation results illuminate the effectiveness and feasibility of the motor proposed.
Original languageEnglish
Title of host publication2016 International Symposium on Electrical Engineering, ISEE 2016
ISBN (Electronic)9781509058839
Publication statusPublished - 7 Feb 2017
Event2016 International Symposium on Electrical Engineering, ISEE 2016 - Hong Kong, Hong Kong
Duration: 14 Dec 2016 → …


Conference2016 International Symposium on Electrical Engineering, ISEE 2016
Country/TerritoryHong Kong
CityHong Kong
Period14/12/16 → …


  • Direct-drive
  • FEA
  • spherical motor
  • two-degree of freedom

ASJC Scopus subject areas

  • Control and Optimization
  • Electrical and Electronic Engineering
  • Energy Engineering and Power Technology
  • Renewable Energy, Sustainability and the Environment


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