Torque Calculation Method of Spherical Robotic Wrist Motor

This paper presents the torque calculation method of a new spherical robotic wrist motor capable of three degrees of freedom (DOF) motion in a single joint. The spherical motor bases its operation principle on permanent magnet BLDC motor. Prediction of the spherical motor characteristics requires the computation of the exact motor dynamics at each position and angle using 3D finite element analysis which imposes a computational burden. By only calculating Lorentz forces of the coil area mesh elements, this computational burden can be reduced