Force and torque study of magnetic levitation spherical driving joint with magnetic field segmentation method

This paper presents a novel multi-degree-of-freedom spherical reluctance driving joint with magnetic levitation. The analysis of operation mechanism and the joint's magnetic conduction of the gap are deduced by means of the way to magnetic segmentation. The relationship between electrical and mechanical energy conversion is analysed and then the radial suspension force and the tangential suspension torque are calculated. The simulation experiments show that the system of driving joint has well static and dynamic characteristics.