随着智能设备、无人驾驶、机器人和医疗行业的快速发展，多自由度（DOF）执行器的需求日益增长，用于实现前所未有的复杂任务自动化。球形电机作为一种直接驱动的解决方案，因其紧凑设计、高灵活性和快速无奇异点运动能力，正成为智能机器发展中的一项关键技术。它们在单个球关节中实现多自由度旋转，简化结构并增强系统的运动性能。
Rapid advances of intelligent machines for amsrt manufacturing equipment,driverless vehicles,robotics,and medical industries continue to motivate new designs and app;ocations of multi-degree-of-freedom(DOF) actuators capable of complex motion and precise force/torque manipulations to complete tasks that have never been automated before.Extensive efforts to develop novel actuators with compact designs and designs and dexterous manipulations can be found in both academic research and indusrial development.Unlike multi-DOF systems with designs based on bulky serial/parallel combinations cf single-axis spin motors and transmission mechanisms,spherical motors/actuators are direct-drive and can achieve multi-DOF rotational motions in a single ball joint,because of these attractive features,along with the structural simplicity and the capability to achieve quick singularity-free motion,spherical motors are expected to play a significant role in the developmet of intelligent machines.
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