Development of a spherical stepping motor rotating around six axes

Akio Gofuku, Ryo Sasaki, Tomoaki Yano, Yosuke Wada, Mitsunobu Shibata

Research output: Contribution to journalArticlepeer-review

26 Citations (Scopus)


Spherical motors have an advantageous feature that they can rotate around multiple axes. From the advantage, spherical motors are expected to be applied to driving mechanisms of holonomic mobile robots, joints of robots, and so on. This study develops a spherical motor called 14-12 spherical stepping motor that can rotate around 6 axes. This paper describes the structure of the motor, rotation principle by five-phase ACs (Alternative Currents), a five-phase AC power supply, and rotation experiments to confirm the applicability of the motor.

Original languageEnglish
Pages (from-to)905-911
Number of pages7
JournalInternational Journal of Applied Electromagnetics and Mechanics
Issue number1-4
Publication statusPublished - 2012


  • Spherical motor
  • five-phase alternative current
  • stepping motor

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Mechanics of Materials
  • Mechanical Engineering
  • Electrical and Electronic Engineering


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