Design and Control of Ball-and-Socket-Type Spherical Motor: A Comprehensive Study

This paper reviews the spherical motor in existence. There are multiple spherical motors with unique designs. Given the rising expectations for modern machine tools and robotic equipment, multi-DOF are required for product quality and the requirement to generate free-form surfaces. As a result, new machine tool designs and drive technologies are required. Researchers have been working on the development of various designs and coil arrangements of the spherical motor to attain the most efficient performance. The magnetic pole arrangement and control system plays a crucial role in attaining the desired outcome. The magnetic pole arrangement is important to create efficient torque to drive a primer. There have been studies about the magnetic pole arrangement and which arrangement serves the best purpose. The control system is required to obtain precise motion and keep the system in a stable state. This paper briefly discusses the different designs, magnetic pole arrangement, and control system.