所得结果表明，双极永磁球形电动机内部电磁关系简单，易于实现对转子位置的控制。
The model shows that the electro-magnetic coupling relationship inside the two-pole PM spherical motor is simple and that the torque of the motor is easy to control.
介绍了一种永磁球形步进电动机的结构、工作原理及滑轨支架形式的位置检测系统。
The structure and operation principle of a PM spherical stepper motor and its gimbal guideway orientation detection system were discussed.
介绍了一种新型永磁球形步进电动机的结构、工作原理，对电机的结构参数进行了深入分析。
The structure and operation principle of a PM spherical stepper motor are discussed and its configuration parameters are analyzed.
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