隨加工技術日益發達，一些原本較難加工的形狀已成為可能，這也使的在20世紀中提出球型馬達被人重新提起，在許多研究及實作驗證下，球型馬達逐漸從概念慢慢成為未來有機會運用到實務方面的馬達設計。
球型馬達的驅動原理與傳統的馬達驅動原理都是通過電磁力驅動，然而不同種的磁力交互運動，及幾何形狀的設計都將影響該馬達的性能與特性，進而影響該馬達設計適用的場域。球型馬達相對於傳統馬達增加至少1個自由度的驅動設計，需額外考量個別自由度驅動與彼此的影響，因此儘管球型馬達驅動原理大同小異，仍然有研究透過不同的幾何設計，提出不同性能之設計。
此論文為接續本實驗室前面兩個球形馬達設計，以傳統音圈馬達作動原理與理論下提出另一種磁路設計，透過將磁鐵N極雙向排列的方式，使單一線圈兩邊均能提供同方向的勞倫茲力，相對於比較期刊設計出力值提升，並以扼鐵與磁鐵的幾何搭配使該設計在無通電下有恢復水平的磁回復力，增強其可操控性。接著，以ANSYS Maxwell對設計的磁路結構進行電磁模擬，並與選定的比較設計之模擬檔比較討論，並建立簡單的數學模型分析其動態性。

With the continuous advancement of processing technology, shapes that were previously difficult to manufacture have now become possible. This has rekindled interest in the spherical motor concept, first proposed in the 20th century. Through extensive research and practical verification, the spherical motor has gradually evolved from a mere concept to a potential future application in practical motor design.
This thesis builds on the previous two spherical motor designs developed in our laboratory, proposing a new magnetic circuit design based on the operating principles and theories of traditional voice coil motors. By arranging the magnets' N-poles in a bidirectional manner, the design enables both sides of a single coil to provide Lorentz force in the same direction. This results in an improved output force compared to designs published in journals. Additionally, the combination of yoke iron and magnet geometry allows the design to have a magnetic restoring force that maintains horizontal alignment when not energized, enhancing its controllability. The electromagnetic simulation of the designed magnetic circuit structure is conducted using ANSYS Maxwell, and the results are compared and discussed with those of a selected comparative design.

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