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The multi-degree-of-freedom inductive spherical driving joint owns high mechanical integrity and has advantages such as control and trajectory planning. Because of its limit of rotor pose, instant stepping angle and inability to spin around any axis through center of sphere, the suspension and rotation precision of spherical reluctance driving joint isn’t high and the response speed can’t reach the best. Based on mechanism of rotation and suspension, due to distribution of air gap magnetic induction intensity, a novel inductive maglev spherical driving joint was presented, and electromagnetic suspending force and electromagnetic torque were established. Analyze the magnetic induction intensity, electromagnetic suspending force and electromagnetic torque through finite element simulation, build a bench test of maglev spherical driving joint, and do testing research on displacement characters and suspension and rotation characters of joint rotor.

Study on Mathematical Modeling and Experiment of Inductive Magnetic-gas Mixed Suspension Spherical Joint