Design and Simulation of Two-Degree-of-Freedom Voice Coil Spherical Motor with Magneto Restoring Torque

Through extensive research and practical validation, the spherical motor has progressed from a conceptual idea to a promising candidate for future applications in motor design. Among these developments, several voice coil spherical motor designs have been proposed. However, the lack of application studies for these designs highlights opportunities for further improvement. This study introduces a novel magnetic circuit design based on the principles and theories of traditional voice coil motors. By arranging the magnets' N-poles in a bidirectional configuration, the design enables both sides of a single coil to generate Lorentz force in the same direction. Furthermore, the combination of yoke iron and magnet geometry provides a magnetic restoring force, maintaining horizontal alignment when the motor is not energized, thereby enhancing controllability. Electromagnetic simulations of the proposed magnetic circuit structure were conducted using ANSYS Maxwell, demonstrating improved output force compared to previously published designs.