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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...
In this paper, the method with different pole arc combination was adopted to reduce the cogging torque in PMDC motors. To minimize the cogging torque, a global optimization algorithm (zooming algorithm) and the finite element method (FEM) are combined to find the best pole arc combination. The Fourier coefficient of the square of magnetic flux density is analyzed to determine the feasible region from...
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