中文摘要：

本文提出了一种直流永磁球型电机整体结构的设计理念。为了减小球型电机运动环节产生的摩擦力，针对球型电机结构特点，设计了基于十字轴结构的运动装置，并结合编码器以及倾角传感器提出了在球型电机内部可实现三位置检测的设计思路。为了得到球型电机的力矩输出与线圈激励的关系，对球型电机进行了磁场分析，利用麦克斯韦定律建立标量磁位的拉普拉斯方程，求解方程并利用边界条件得到空间磁场分布表达式，其结果可为进一步的研究和实验方案设计提供借鉴和参考。

英文摘要：

This paper has presented a design concept of a direct-current permanent magnetic spherical actuator. In order to reduce the friction of the spherical actuator, a locomotion mechanical device is designed, on the basis of the omni-directional axis. Combined with the encoder and rotation sensor, the proposed device is able to measure the three dimensional orientation of the rotor. In order to obtain the relationship between the torque output and current input, first the magnetic field of the spherical actuator is analyzed. Laplace equation of magnetic scalar potention is formed according to maxwell thorm. With appropriate boundary conditions, the expression of space magnetic field distribution is obtained after solving the equation. The result can be a reference for the future research and experimental design.