斜槽式永磁球形电机的设计与分析

永磁球形电机由于其结构简单、控制方便，并且可以实现任意角度的偏转的特点，现在在航空航天、智能机器人等各个领域被广泛应用。本文采用8极16槽，具有三层定子结构的永磁多自由度球形电机，对球形电机的气隙磁场和齿槽转矩进行了分析，提出一种斜槽结构，对转子进行优化，利用有限元软件建立三维模型，用解析法对齿槽转矩进行分析，得到的结果与有限元方法进行对比分析，计算分析结果表明，该优化设计方法能有效降低永磁球形电机的齿槽转矩。

Design and Analysis of Skewed Slots for the Permanent Magnet Spherical Motor

Permanent magnet spherical motors are widely used in various fields such as aerospace and intelligent robots due to their simple structure, convenient control, and the ability to achieve deflection at any angle. In this paper, a permanent magnet multi-degree-of-freedom spherical motor with 8 poles and 16 slots and a three-layer stator structure is adopted. And The air gap magnetic field and cogging torque of the spherical motor are analyzed. A skewed slots structure is proposed to optimize the rotor. The finite element method is used to build three-dimensional models, and the cogging torque is analyzed by the analytical method, with the results compared with the finite element method. The calculation and analysis results show that the optimal design method can effectively reduce the cogging torque of the permanent magnet spherical motor.