Patent ID: 9475592
Filing Date: 2016-10-25
CPC Classification: B64G,H02K

Claim Text:
1. A spherical motor system for control and stabilization of a vehicle in three orthogonal axes, the system comprising: a spherical rotor having permanent magnets positioned in evenly-spaced antipodal pairs, wherein each of the permanent magnets are oriented with the same magnetic pole facing outward from a center of the rotor; a stator having electromagnets positioned in evenly-spaced antipodal pairs that spatially correspond with the permanent magnets, the stator further having magnetic sensors surrounding at least one of each electromagnet antipodal pair to detect one of the permanent magnets; and a control system that controls timing and duration of energization of the electromagnets based on the detection of the one of the permanent magnets with the sensors to provide the electromagnets with the opposite magnetic pole of the permanent magnets in order to attract the permanent magnets whereby momentum is transferred between the rotor and the stator along a controlled vector.