摘  要：简述了永磁球形多自由度电机的优越性能，首次提出了永磁球形多自由度电机的分类，重点介绍了国内外的永磁球形多自由度电机最新研究进展和研究中遇到的问题，并探讨了永磁球形多自由度电机的发展前景和趋势。最后在三维有限元软件环境中对一种永磁球形三自由度电机的转矩特性进行了仿真计算，给出了仿真结果，对电机转矩特性进行了分析和讨论。
关键词：稀土永磁；多自由度；有限元；球形电机

Abstract: The superior performance of PM spherical M-DOF motors was introduced briefly in this paper which proposed the classification of permanent magnet spherical M-DOF motors for the first time. The paper focused on the introduction about the latest study situation and difficulties of the domestic and abroad research. Also the exciting prospects and development trends of the permanent magnet spherical MDOF motors were analyzed. Finally, the torque features of a new permanent magnet spherical M-DOF motor was emulated under the circumstance of 3D finite element software. The simulation results were derived and the main torque characteristics were analyzed and discussed.
Key words: rare-earth PM；M-DOF；FEM;spherical motor