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We propose a miniature spherical motor using iron–gallium alloy (Galfenol). This motor consists of four rods of Galfenol with square cross-section, a wound coil, a permanent magnet, an iron yoke and a spherical rotor placed on the edge of the rods. The magnetomotive force of the magnet provides bias magnetostriction for the rods and an attractive force that maintains the rotor on the rods. When currents...
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