中文摘要：

本文在介绍一种新型结构的永磁多自由度电机的基础上，详细阐述了其结构和工作原理，给出了线圈电流的计算公式，采用三维有限元法仿真得到了电机转子在不同位置下的磁密和磁感应强度并进行了对比分析。同时基于三维有限元法仿真分析了在不同大小的线圈电流下和不同的线圈位置下所产生转矩大小以及可以使转矩最大化的线圈最佳位置，以及电机在两种旋转运动方式下的转矩大小。仿真计算结果证明了该电机实现多自由度运动的可行性和优越性，其结果可为进一步的研究和实验设计提供借鉴和参考。

英文摘要：

In this paper, on the basis of the introduction of a new structured PM spherical motor, its structure and operation principle were presented in detail. The calculation formula of the coil current was given the flux density and magnetic induction density of the rotor at different positions were also analyzed and compared by 3D FEM. In addition, the torque generated with different coil currents and different coil positions was analyzed, and the optimal position for the coil to make the maximum torque was derived. The torque characteristics under two rotation modes were computed. The simulation results prove the feasibility and superiority of the mechanism of motor; the results can be a reference for further research and design of experiment.