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We present a three-dimensional (3-D) torque model based on spherical harmonic functions of a Halbach array permanent-magnet (PM) spherical motor. Using the torque model, we show how to realize three-degree-of-freedom motion. We compare the Halbach array PM spherical motor and the conventional parallel magnet array spherical motor in terms of spherical harmonic component and amplitude of the torque...
A design concept of a Halbach array permanent magnet (PM) spherical motor is proposed in this paper. Based on spherical harmonic functions, the three dimensional (3-D) magnetic fields produced by ball-shaped Halbach array rotor and parallel-magnetization rotor are analyzed. The pole-arc coefficient concept for conventional magnet array spherical motor is developed. The optimum pole-arc coefficient...
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