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A Study on Output Characteristics of the Spherical Multi-DOF Motor According to the Number of Phases and Pole Pitch Angles

This paper studies the output performance improvement of the spherical multi-degree-of-freedom (multi-DOF) motor. The multi-DOF motor is a motor that is designed to drive in multiple axes. Therefore, it is important that the shape of the motor should be fabricated to enable multi-axis driving when designing the multi-DOF motor. In addition, it is essential to consider the output density characteristics and stability characteristic analysis to reduce the volume of the multi-DOF motor and to operate of the motor in the stable range, respectively. In this paper, the structure and operating characteristics of the spherical multi-DOF motor with dual air gaps are described. In order to improve the output characteristics of the multi-DOF motor, characteristics analysis was performed according to the change of the number of the phases and pole pitch angles, and stability characteristic analysis for stable operation of the multi-DOF motor was performed.