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A novel stepping motor principle based on a pair of polyhedrons are proposed. At first, I will show the goal of my study and the design concept of high torque spherical motor. Next, the principle of the conventional stepping motor is reviewed. Then, I will explain how to expand the principle of the conventional stepping motor to the three dimensional space with an example of a regular dodecahedron and a truncated octahedron based spherical stepping motor. Some polyhedrons are introduced for the candidates of making the polyhedron based spherical stepping motor. The proposed spherical stepping motors will be wide working area and high-torque.
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Takahisa Yano (2008) studied this question.