A motor allowing multiple degrees of output freedom includes a stator having
an
interior surface forming at least a portion of a sphere or curved surface and first
and second substantially orthogonally positioned stator coils wound on the interior
surface. A rotor is fixed to an output shaft and movably supported adjacent the
stator with an air gap disposed between the rotor and the stator. The rotor includes
a plurality of magnets disposed thereon and is movable along the interior surface
in directions defining at least first and second degrees of freedom. Upon energization
of the first stator coil, a first magnetic field is established to urge at least
a first one of the magnets and the rotor in a direction of the first degree of
freedom and upon energization of the second stator coil, a second magnetic field
is established to urge at least a second one of the magnets and the rotor in a
direction of the second degree of freedom.
