Development of a spherical motor to rotate in all directions

Akio Gofuku, Takakazu Nagai, Seiji Ikeshita, Mitsunobu Shibata, Tetsushi Kamegawa

Research output: Contribution to journalArticlepeer-review

6 Citations (Scopus)


This paper studies a spherical motor driven by electro-magnetic force. The spherical motor is composed of a rotor and a stator. The rotor has 32 permanent magnets positioned at the vertices of a geometric configuration combined with a regular dodecahedron and a regular icosahedron. There are 84 electromagnets in the stator. The electro-magnets are excited to make the rotor rotate in omnidirection by the pattern such that the electro-magnets near the rotation goal positions of permanent magnets in the rotor after a small time step are excited to the attractive pole and the electromagnets apart from the permanent magnets to the repulsive pole. A simulation program is developed for the purpose of designing the structure and excitation method of electro-magnets and evaluating rotation performance. A prototype spherical motor is developed and the motor is confirmed to rotate is omnidirection by the experiments and simulations for rotation performance evaluation.

Original languageEnglish
Pages (from-to)2713-2720
Number of pages8
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number11
Publication statusPublished - Nov 2008
Externally publishedYes


  • All directional rotation
  • Electro-magnetic force
  • Holonomic mobile car
  • Robot joint
  • Spherical motor

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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