摘要：随着现代高新科技的迅速发展与多自由度机械关节操控的需求，多自由度运动电机已引起国内外学者广泛的关注与研究。本文首先介绍了一种新型永磁转子偏转式三自由度运动电机的结构模型和工作原理，进而给出了基于分布式多极磁场模型的永磁体建模及转子位置检测的求解方法，在此基础上对磁场建模进行了仿真验证，应用多项式逼近法明确给出检测出的磁场与转子位置的关系。仿真结果表明了该方法的可行性，为进一步的研究和实验提供了借鉴和参考。

关键词：永磁体；多自由度；分布式多极；位置检测；仿真
Abstract: As the rapid advancement of modern hightechnologies and demands for dexterous robotics manipulators, multidegreeoffreedom (MDOF) actuators have widely attracted the attentions of many researchers and been researched This paper introduced the structure model and the operation principle of a new type of PM deflection type threeDOF motors; furthermore, the method of Distributed MultiPole (DMP) modeling and the rotor position detection method were referred The model validation was presented based on the simulation modeling of permanent magnets The application of the polynomial approximation clearly determined the relationship between the magnetic field and the rotor position Simulation results show the feasibility of the method for further research and experiments by providing useful references

Key words: permanent magnet; multiDOF; distributed multipole; position detection; simulation