US Patent 11070122 Multi-degree-of-freedom electromagnetic machine

A multi-degree-of-freedom electromagnetic machine includes a spherical armature, a first coil, a second coil, a third coil, a structure, a stator, and a bracket. The spherical armature has a first axis of symmetry, a second axis of symmetry, a third axis of symmetry, and the first, second, and third axes of symmetry are disposed perpendicular to each other. The spherical armature and structure are rotatable together, relative to the bracket and the stator, about the first axis of symmetry; the spherical armature, structure, and bracket are rotatable together, relative to the stator, about the second axis of symmetry; and the spherical armature, structure, bracket, and stator are rotatable together about the third axis of symmetry.