Design of a Hexahedron-Octahedron Based Spherical Stepping Motor

A spherical stepping motor with a hexahedron based rotor and an octahedron based stator is designed. The motor has a rotor supported by six spherical bearings and a stator. Eight NdFeB permanent magnets are attached at the vertexes of the virtual hexahedron inscribed in the rotor so that the North and the South poles are located alternately. Six iron cores are also attached on the spherical shell at the center of the faces of the virtual hexahedron inscribed in the rotor. Six, twelve, and seven armature coils are attached at the vertexes, center of the edges, and the center of the faces of the virtual octahedron inscribed in the stator respectively. The motor will be driven in almost any direction by the combination of the conventional motor driver and a switch. The designed motor will be easy controlled high-torque motor with wide working area.