隨著科技與自動化設備的蓬勃發展，近年機器人與機械手臂的需求大量增加，並廣泛應用於日常生活、生產與製造等領域，也進而提升了多自由度系統的開發與發展。其中，馬達更為多自由度系統中的驅動核心之一，也是各個領域中非常重要的元件，然而，在過往的多自由度系統中皆需透過串聯多組單自由度馬達來使系統完成多自由度運動，使得整體系統體積龐大、重量上升，同時降低了系統效率，並產生了系統定位精度低與響應速度慢等問題。
為了解決傳統多自由系統潛在的問題，近年眾多學者與業者致力於多自由度馬達的研究與開發，其中在機器人眼、手臂關節與航太等多自由度的偏轉系統領域中，基於各式馬達作動原理，開發了多種多自由度球型馬達，以實現單一球型馬達完成多自由度偏轉運動的目標，同時解決了傳統多自由度系統中裝置複雜且無後驅能力等問題。
本論文基於傳統音圈馬達之作動原理與理論基礎，開發一具二自由度的L形軛鐵球型馬達，透過軛鐵的形狀特徵搭配磁鐵的充磁方向，達到磁力線集中與共用磁鐵的效益，從而提高馬達效能。而在設計過程中，透過SOLIDWORKS繪圖軟體進行設計建模與組裝模擬，並使用ANSYS Maxwell有限元素分析軟體對整體球型馬達結構進行磁路分析和電磁模擬，同時建立數學模型並透過MATLAB分析其動態特性。除了模組結構的模擬與分析外，本論文也進行了雛型品的製作，並針對扭矩量測進行實驗驗證，分析其實驗結果並評估設計模組之性能與可行性。

With the rapid development of technology and automation equipment in recent years, there has been a significant increase in the demand for robots and mechanical arms in various fields like everyday life and manufacturing, thereby promoting the development of multi-degree-of-freedom (multi-DOF) systems. However, traditional systems often rely on multiple sets of single-degree-of-freedom actuators to achieve multi-DOF, resulting in large bulky size, increased weight, reduced efficiency, and issues like poor positioning accuracy and slow response speed.
To overcome these challenges, researchers and industry experts have been focused on developing multi-DOF actuators, such as robot eyes, arm joints, and aerospace applications, various types of spherical actuators have been developed based on different operating principles. These actuators aim to achieve multi-DOF motion using a single spherical motor, eliminating the complexity and lack of actuation capability of traditional systems.
In this study, a two-degree-of-freedom L-shaped yoke spherical actuator based on the principle of traditional voice coil motors is developed. By utilizing the shape characteristics of the yoke and the magnetization direction of the magnet, the magnetic flux is concentrated and the magnet is shared, thereby improving actuator performance. In the design process, SOLIDWORKS software is used for design modeling and assembly simulation, ANSYS Maxwell software is employed for magnetic circuit analysis and electromagnetic simulation, and MATLAB for analyzing the dynamic characteristics through a mathematical model. A prototype is also fabricated and torque measurement experiments are conducted to verify the performance and feasibility of the design.

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