Accurate Calculation of 3-D Model of a New Type of Double Stator Permanent Magnet Spherical Motor

Accurate Calculation of 3-D Model of a New Type of Double Stator Permanent Magnet Spherical Motor | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Accurate Calculation of 3-D Model of a New Type of Double Stator Permanent Magnet Spherical Motor Qing Chen This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-6027774/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract A new type of double stator multi-DOF permanent magnet spherical motor (DS-PMSM) is proposed, which consists of two stators and a hollow rotor with PMs attached to its inner and outer surfaces. Through the joint action of the rotating motor and six arc-shaped permanent magnet linear motor arrays, it can realize the helical motion of continuously changing the direction of the rotating shaft, and can be applied to fields requiring multi-DOF motion such as industrial robots, aerospace, satellite communication. Considering that the spherical structure of the new motor has curvature in the circumferential direction and the axial direction, the curvature in the circumferential direction corresponds to the preliminary design of the 2-D cross-section, and the curvature in the axial direction corresponds to the accurate calculation of the 3-D model. Based on the preliminary design of 2-D cross-section of motor in the last article, an ideal 3-D structure is designed. Due to the limitation of existing machining technology, it can not meet the machining requirements of ideal spherical motor. Therefore, the structure is improved and the key parameters are optimized. Firstly, the improvement of the ideal spherical motor structure is described in detail. Considering the influence of helical motion on rotary motion, the optimal flattening coefficient of the inner PM is selected, and the inner PM are optimized in sections, so as to meet the electromagnetic performance and deflection angle and reduce the processing cost and difficulty. A torque measurement system platform based on six-axis force sensor is built to measure the influence of different rotation speed, deflection angle and stator current on the measured torque. The research results provide some reference value for the design of this kind of spherical motor. 3-D model accurate calculation spherical motor PM flat coefficient of the inner PM piecewise optimization Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-6027774","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":416399590,"identity":"2a5c04c5-2ca8-4c43-95ad-e3ba3a1401ae","order_by":0,"name":"Qing Chen","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAA50lEQVRIiWNgGAWjYDACCTiL+QCEPkC8FrYEkrXwGBCnhX9287HHvG02+fwSOZ9f/NzBIMd3I4HxcwE+S+4cSzfmbUuznDkjd5tl7xkGY8kbCczSM/BoMZDIMZPmbTtsYHAjd5sxYxtD4oYbCWzMPHi15H8DavkP1JLzDKSlnggtOWxALQdAWpgfA7UkGBDSInEjzUxyzrlkA8meZ2aMvWckDGeeedgsjU8L/4zkZxJvyuwM+NmTH3/4ucNGnu948sHP+LSAABNUAZsEYwMomhgbCGgAKvkBoZk/EKF4FIyCUTAKRiAAAMtrSV6xGmUcAAAAAElFTkSuQmCC","orcid":"","institution":"Guangzhou City Polytechnic","correspondingAuthor":true,"prefix":"","firstName":"Qing","middleName":"","lastName":"Chen","suffix":""}],"badges":[],"createdAt":"2025-02-14 06:23:15","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-6027774/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-6027774/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":79675189,"identity":"d526db84-c77a-4f3c-8b91-15102ce5d3e0","added_by":"auto","created_at":"2025-04-01 12:01:53","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":8122623,"visible":true,"origin":"","legend":"","description":"","filename":"Manuscript222.pdf","url":"https://assets-eu.researchsquare.com/files/rs-6027774/v1_covered_d5e0eee0-f622-424c-8ec0-e8ad38fbdfa6.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Accurate Calculation of 3-D Model of a New Type of Double Stator Permanent Magnet Spherical Motor","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":true,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true},"keywords":"3-D model, accurate calculation, spherical motor, PM, flat coefficient of the inner PM, piecewise optimization","lastPublishedDoi":"10.21203/rs.3.rs-6027774/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-6027774/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"A new type of double stator multi-DOF permanent magnet spherical motor (DS-PMSM) is proposed, which consists of two stators and a hollow rotor with PMs attached to its inner and outer surfaces. Through the joint action of the rotating motor and six arc-shaped permanent magnet linear motor arrays, it can realize the helical motion of continuously changing the direction of the rotating shaft, and can be applied to fields requiring multi-DOF motion such as industrial robots, aerospace, satellite communication. Considering that the spherical structure of the new motor has curvature in the circumferential direction and the axial direction, the curvature in the circumferential direction corresponds to the preliminary design of the 2-D cross-section, and the curvature in the axial direction corresponds to the accurate calculation of the 3-D model. Based on the preliminary design of 2-D cross-section of motor in the last article, an ideal 3-D structure is designed. Due to the limitation of existing machining technology, it can not meet the machining requirements of ideal spherical motor. Therefore, the structure is improved and the key parameters are optimized. Firstly, the improvement of the ideal spherical motor structure is described in detail. Considering the influence of helical motion on rotary motion, the optimal flattening coefficient of the inner PM is selected, and the inner PM are optimized in sections, so as to meet the electromagnetic performance and deflection angle and reduce the processing cost and difficulty. A torque measurement system platform based on six-axis force sensor is built to measure the influence of different rotation speed, deflection angle and stator current on the measured torque. 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