Finite Element Analysis of the Inductance and Magnetic Field in the Permanent Magnet Spherical Motor

Akkaya Oy S., Gurdal O., ARSLAN S.

JOURNAL OF POLYTECHNIC-POLITEKNIK DERGISI, vol.23, no.4, pp.1387-1394, 2020 (ESCI) identifier

  • Publication Type: Article / Article
  • Volume: 23 Issue: 4
  • Publication Date: 2020
  • Journal Indexes: Emerging Sources Citation Index (ESCI), TR DİZİN (ULAKBİM)
  • Page Numbers: pp.1387-1394
  • Gazi University Affiliated: Yes


Today, many applications requiring mass manufacturing are shifting to robotic applications through automation systems. The actuators used in these robotic systems should be designed according to needs. In this study, an air core spherical motor which has rotor and stator winding arrangement is described. The spherical motor's windings are optimally positioned on the stator made of delrin. Mutual inductance and self-inductance change were examined according to r=4, 20, 40 and 60 mm radius and the change in the number of stator winding for the spherical motor. Changes in inductance were found through curve fitting method with the coefficients of cubic equations. Equivalent circuit with winding inductance model is also given. Torque change according to magnet change was also investigated. Magnetic flux density change of N52 M magnet 3 winding 2-pole model was examined and the effect of the increase in overall size on torque was evaluated.