A novel three-degree-of-freedom (3-DOF) spherical motor based on the principle of minimum magnetic reluctance is proposed in this paper. This paper firstly introduces the structure of the reluctance spherical motor and explains the principle of 3-DOF motion of the motor in detail. Then, an analytical model for reversible torque-angle characteristics is established to accurately describe a complex nonlinear system of the spherical motor model by using piecewise function nonlinear fitting method. Finally, the simulation results of torque-angle characteristics based on the nonlinear model are compared with those of the 3D finite element method (FEM), which verifies the feasibility of the nonlinear modeling.
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