Multi-Degree-of-Freedom (multi-DOF) actuating systems are usually composed of several single-DOF motors, which results in large, heavy and complicated structures. In order to solve these problems, various multi-DOF spherical actuators have been actively studied. However, a large number of current phases are required in the spherical actuator. In this paper, in order to reduce the number of current phases, a 3-DOF spherical actuator with auxiliary poles which is driven using 5-phase currents is proposed. Finally, the torque characteristics of the proposed actuator are evaluated through 3-D finite element analysis.
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