3D Electromagnetic and Structural Analysis of A Doubly Excited Spherical Motor for Robotic Applications

Gündoğar U. Y. , Zorlu Partal S. , Öner Y.

2020 Innovations in Intelligent Systems and Applications Conference (ASYU), İstanbul, Turkey, 15 - 17 October 2020, pp.978-986


The need for multi-degree of freedom movements is increasing in robotics, medical, automotive and other industrial applications with the developing technology. In this study, double excited permanent magnet spherical motor which has three dimensional motion capability was designed and analyzed electromagnetics numeric analysis according to the finite element method. The double excited spherical motor consists two main parts stator which has 12 coils and rotor which has 4 permanent magnets. Motor model is positioned within housing made of teflon material. Electromagnetics analysis was performed with ANSYS Maxwell software, which performs numerical solution with finite element method for all cases according to the motion capabilities of spherical motor. Structural analyzes of spherical motor were also performed with ANSYS Mechanical software. After the analysis of the spherical engine was completed, it was tested with the prepared prototype and designed driving circuit; It has been observed that it can successfully perform 8 different movements from the starting position to the 30° movement position as obtained in electromagnetic analysis.