Spherical motor using oscillatory magnetic fields

摘要

A spherical motor (10) that includes an outer field sphere (12) and an inner armature sphere (14) rotatable therein. Field magnetic elements (26) are disposed on the field sphere (12) and sensor/actuator magnetic elements (42) are disposed on the armature sphere (14). The field magnetic elements (26) include two coils (28, 30) providing regularly varying magnetic fields in two axes. The sensor/actuator magnetic elements (42) include coils (44-54) providing magnetic fields in three axes. Each sensor magnetic element (42) senses its localized magnetic field variations and generates a torque relative thereto. Over one complete field variation of the field magnetic elements (26), each sensor magnetic element (42) can produce torque about all three axes. <IMAGE>