Magnetic field of mathematical modeling and simulation of 3D magnetic pole array spherical actuator

In this paper a new spherical actuator is designed and its advantages are compared to an existing spherical actuator, which function is limited by several design bottlenecks. First the output torque is too small. Second, the attitude is difficult to be accurately detected. The new three-dimensional magnetic pole array can solve these major problems. The new actuator features an outer rotor with multiple permanent magnet (PM) poles. Using an analytical solution and the finite element solution simulation, the feasibility of the approach is verified. A prototype was developed, tested, and experiments were conducted to obtain the practical value of the magnetic flux density.