A geared spherical electromagnetic machine with two-axis rotation includes an inner frame, an outer frame, a spherical body, a first coil, a second coil, a third coil, a first hemispherical body, a second hemispherical body, a first plurality of inner magnets, a second plurality of inner magnets, a first gearbox, and a second gearbox.

A motor comprising a stator and a rotor; the stator includes a first stator, a second stator, and a third stator; the stators each include at least one stator coil; the rotor includes a magnetic element, a first bearing, a second bearing, and a shaft; the stators generating a superimposed magnetic field together causes the magnetic element to rotate; when the magnetic element rotates in the first plane, the outer ring of the first bearing rotates; the center of the first bearing is located in a plane where the second bearing is located, and when the magnetic element rotates in the second plane, the inner ring of the second bearing rotates; the central axis of the shaft passes through the center of the first bearing; wherein the shaft is rotatably fixed to the first bearing and connected to the second bearing; the magnetic element located in where the central axis of the first bearing meets the central axis of the second bearing, the normal vector of the first plane is parallel to the axial direction of the shaft; the normal vector of the second plane is perpendicular to the axial direction of the shaft.

A multi-degree of freedom electromagnetic machine includes a spherical body, an outer structure, a plurality of magnets, and a plurality of windings. Each of the plurality of windings includes a flexible dielectric substrate and an electrical conductor. The flexible dielectric substrate has an inner surface and an outer surface, and the inner surface of the flexible substrate facies the outer surface of the spherical body. The electrical conductor is disposed on at least one of the inner or outer surfaces of the flexible dielectric substrate.

A multi-degree of freedom electromagnetic machine includes a spherical body, an outer structure, a plurality of magnets, and a plurality of windings. Each of the plurality of windings includes a flexible dielectric substrate and an electrical conductor. The flexible dielectric substrate has an inner surface and an outer surface, and the inner surface of the flexible substrate facies the outer surface of the spherical body. The electrical conductor is disposed on at least one of the inner or outer surfaces of the flexible dielectric substrate.

An electrical system includes a power inverter module (PIM) connected to DC and AC voltage buses and having a pair of inverter phase legs, at least one of which includes a plurality of semiconductor switche. A cycloidal electric machine with plurality of electrical phases is connected to the PIM via the AC voltage bus, and has a stator and a rotor with eccentric stator and rotor axes. The rotor moves with two degrees of freedom, including rotating motion about the rotor axis and orbiting motion about the stator axis. A controller applies, for each respective phase, a phase-specific offset value to a carrier signal and to a voltage reference signal. This generates a modified carrier signal and a modified reference signal, respectively, which in turn generate a pulse width modulation (PWM) signal. The electric machine is powered via the PIM by energizing the semiconductor switches using the PWM signal.

An electric motor has a stator mechanically coupled to the rotor by a nutating traction interface, such that during nutation of the rotor with respect to the stator a tilt axis of the rotor progresses about the axis of rotation of the output shaft. The rotor and a surface of the stator bound a dynamic gap across which a magnetic field is produced by electrical activation of the motor to generate a force between the rotor and the stator. The traction interface and the gap are arranged such that, in a plane containing the axis of rotation of the output shaft, the traction interface is angled with respect to the stator surface bounding the gap. The rotor is connected to the output shaft by a tiltable connection such as a gimbal.

A multi-stage spherical motor includes an inner stator, an outer stator, a rotor, and magnets. The inner stator has a plurality of inner stator windings wound thereon. The outer stator is spaced apart from and at least partially surrounds the inner stator, and has a plurality of outer stator windings wound thereon. The rotor is disposed between the inner stator and the outer stator and is configured to rotate about a plurality of perpendicular axes. The rotor has an inner surface and an outer surface. An inner array of magnets is coupled to the inner surface of the rotor, and an outer array of magnets coupled to the outer surface of the rotor. In some embodiments, a multi-stage spherical motor includes an inner rotor, an outer rotor, a stator, inner stator coils, and outer stator coils.

An axial flux-type rotary electric machine includes a rotor having a rotor axis and a stator having a stator axis. The stator is positioned adjacent to the rotor such that an axial airgap is defined between the rotor and the stator. First and second non-parallel rotor shafts are respectively collinear with the stator axis and the rotor axis. A nutating gear pair is connected to a stationary member and the rotor, and is configured to impart nutating motion to the rotor with respect to the stator, such that a size of the axial airgap changes with a rotational position of the rotor, and such that the rotor has two degrees of freedom of motion. An electrical system includes direct and alternating current voltage buses, a power inverter module connected to the voltage buses, and the axial flux-type rotary electric machine connected to the alternating current voltage bus.

An electrical system includes a power inverter module (PIM) connected to DC and AC voltage buses and having a pair of inverter phase legs, at least one of which includes a plurality of semiconductor switch. A cycloidal electric machine with plurality of electrical phases is connected to the PIM via the AC voltage bus, and has a stator and a rotor with eccentric stator and rotor axes. The rotor moves with two degrees of freedom, including rotating motion about the rotor axis and orbiting motion about the stator axis. A controller applies, for each respective phase, a phase-specific offset value to a carrier signal and to a voltage reference signal. This generates a modified carrier signal and a modified reference signal, respectively, which in turn generate a pulse width modulation (PWM) signal. The electric machine is powered via the PIM by energizing the semiconductor switches using the PWM signal.

Various implementations include transmission devices for reducing angular speed using a nutating intermediate plate that does not rotate about the central axis of the transmission relative to the transmission housing. Various implementations of the transmission devices are able to achieve high transmission ratios in a single, compact stage while maintaining high efficiency and leverage simple components that can be easily manufactured using standard machining practices.