Spherical motor-a three-dimensional position servo

The use of rotating machines for three-dimensional positioning is complex, because the position system requires several parts, which represents losses, large inertia and difficult mechanical construction. For these applications, the paper presents a three-dimensional position servomotor which is a very competitive choice, as it uses just one machine able to produce the three dimensional movement, incorporating (in just one device) the motor and the coupling. Its principle of operation, electromagnetic torque, inductances and other basic equations are presented. Experimental results taken with a prototype are also shown