| 摘要 |
To provide a multi-degree-of-freedom electric motor, having a spherical rotor, which is able to obtain a uniform torque and to make a fine and smooth rotational control. A plurality of projections 30 consisting of magnetic material are disposed on surface of spherical rotor 21 and spherical stator 23 is disposed with predetermined space therefrom. Electromagnets are buried in the surface of stator 23 with predetermined intervals. The spherical rotor 21 is caused by gas jetted from spherical static pressure bearing 25 via gas cylinder 26 and pressure pipe 29 to float to be rotatable. By controller 28, electromagnets of the stator 23 are excited to desired position in alpha / beta / gamma directions of orthogonal coordinates, and upon action with the projections 30, the spherical rotor 21 is rotated to the position. <IMAGE> |
