IJAT Vol.10 No.4 pp. 599-608
doi: 10.20965/ijat.2016.p0599


A Spherical Motor Driven by Electro-Magnets Based on Polyhedrons

Akio Gofuku*,†, Kazuki Adachi*, Yuta Okido*, and Tomoaki Yano**

*Graduate School of Natural Science and Technology, Okayama University
3-1-1 Tsushima-Naka, Kita-ku, Okayama 700-8530, Japan

Corresponding author,

**Research Institute of Fundamental Technology for Next Generation, Kinki University
1 Umenobe, Takaya, Higashi-Hiroshima, Hiroshima 739-2116, Japan

January 5, 2016
May 30, 2016
July 5, 2016
spherical motor, electro-magnetic force, dynamic simulation, basic rotation performance, five-phase alternating current

This paper describes the development of a spherical motor, hereinafter called “14-12 spherical motor.” This spherical motor utilizes two polyhedrons – a truncated regular octahedron and a regular dodecahedron – for the arrangement of permanent magnets on the rotor and electro-magnets on the stator. The 14-12 spherical motor has two types of rotation axes and six rotation axes in all. Five-phase alternating current was applied to the electro-magnets to rotate the rotor. This study also developed a simulation model for the 14-12 spherical motor to numerically simulate the dynamic behavior of the motor. Basic performance was measured and simulated to evaluate (1) the relation between rotation speed and maximum output rotation torque and (2) cogging torque. Waveforms of the five-phase alternating current were improved using the simulation model in order to increase output rotation torque for the rotation axis with the smaller torque.

Cite this article as:
A. Gofuku, K. Adachi, Y. Okido, and T. Yano, “A Spherical Motor Driven by Electro-Magnets Based on Polyhedrons,” Int. J. Automation Technol., Vol.10, No.4, pp. 599-608, 2016.
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Last updated on Dec. 13, 2018