Topological metamorphic optimization scheme for a novel decoupled motion inductive spherical actuator

Spherical actuators are extensively applied in industrial robots, spacecraft attitude adjustment systems, and precision machining due to their compact structure and multi-DOF motion capability. However, traditional permanent magnet or variable reluctance spherical actuators have magnetic field posture coupling, causing torque interference between tilting and rotational directions. This requires complex control algorithms, increasing system complexity and limiting dynamic response. To solve these issues, this paper proposes a novel spherical actuator configuration based on inductive drive and magnetic levitation-assisted support. It uses grouped motion winding arrays to decouple torque fields and combines universal joint ball bearings with electromagnetic levitation windings to reduce rotor friction damping. The actuator’s metamorphic configuration is optimized based on topological equivalence theory. Simulation shows the new configuration reduces tilting torque coupling to 0%, with better output performance. This method is theoretically innovative and practically applicable for designing high-precision, freedom-driving devices, with broad prospects in spacecraft attitude adjustment flywheels and precision machine tools.