Geometrical Equivalence Principle Based Modeling and Analysis for Monolayer Halbach Array Spherical Motor With Cubic Permanent Magnets

This paper proposes a monolayer Halbach array based permanent magnet spherical motor (PMSpM) using cubic permanent magnets (PM). The research aims to provide a fast computing model to calculate the magnetic field for this PMSpM, which helps for future PMSpM optimization and control study. Three thickness equivalence principles are provided and compared for cubic PMs. The magnetic scalar potential ...