# US 2014/0191626 A1 · Spherical Induction Motor > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0191626 A1 - Document ID: US20140191626A1 - Status: Published application - Kind: A1 - Application number: 14/177,450 - Filed: 2014-02-11 - Published: 2014-07-10 - Earliest claimed: 2011-08-12 - Assignees: Carnegie Mellon University, CTTEC - Applicants: Carnegie Mellon University, CTTEC - Inventors: Ralph L. Hollis, JR.; Masaaki Kumagai - Web page: https://patentgrep.com/patent/US20140191626A1 ## CPC - H02K 16/04: Machines with one rotor and two stators - H02K 41/025: Asynchronous motors - H02K 2201/18: Machines moving with multiple degrees of freedom - H02K: DYNAMO-ELECTRIC MACHINES (dynamo-electric relays H01H53/00; conversion of DC or AC input power into surge output power {H03K3/53}) ## Abstract Systems and methods are provided for an induction motor. An induction motor includes a spherical rotor and a plurality of curved inductors positioned around the spherical rotor. The plurality of curved inductors are configured to rotate the spherical rotor continuously through arbitrarily large angles among any combination of three independent axes. ## Claims ### Claim 1 An induction motor, comprising: a spherical rotor; and a plurality of curved inductors positioned around the spherical rotor, wherein the plurality of curved inductors are configured to rotate the spherical rotor through arbitrarily large angles among any combination of three independent axes. ### Claim 2 (depends on 1) The motor of claim 1, wherein the curved inductors are configured to rotate the spherical rotor via varying currents applied to the inductors. ### Claim 3 (depends on 2) The motor of claim 2, further comprising a processor, wherein the processor is configured to vary a plurality of currents applied to a particular inductor, wherein the currents are varied in magnitude and frequency to induce a travelling magnetic wave to the spherical rotor. ### Claim 4 (depends on 1) The motor of claim 1, wherein the spherical rotor comprises a first layer and a second layer, wherein the first layer is positioned inside of the second layer, wherein the first layer is a high magnetic permeability layer, and wherein the second layer is a high electrical conductivity layer. ### Claim 5 (depends on 4) The motor of claim 4, wherein the first layer includes iron or vanadium permendur, and wherein the second layer comprises copper or silver. ### Claim 6 (depends on 4) The motor of claim 4, wherein the second layer includes interspersions of a high magnetic permeability material in substantial magnetic contact with said first layer. ### Claim 7 (depends on 4) The motor of claim 4, wherein the spherical rotor is formed from two first layer hemispheres of a high magnetic permeability composition joined together, wherein a high electrical conductivity material is applied outside of the two hemispheres by electrodeposition or by fastening two second layer hemispheres of a high electrical conductivity composition around the two joined first layer hemispheres. ### Claim 8 (depends on 4) The motor of claim 4, wherein the spherical rotor includes a traction or wear layer that is positioned outside of the second layer. ### Claim 9 (depends on 8) The motor of claim 8, wherein the traction or wear layer includes a pattern for use in detecting a velocity of the spherical rotor by optical, inductive, or capacitive sensing. ### Claim 10 (depends on 1) The motor of claim 1, wherein the spherical rotor is separated from the plurality of inductors by a gap. ### Claim 11 (depends on 10) The motor of claim 10, wherein the gap is maintained by means selected from at least one of: a mechanical bearing, an air bearing, a gas bearing, a ball bearing, and a magnetic bearing. ### Claim 12 (depends on 1) The motor of claim 1, wherein one of the curved inductors comprises a plurality of laminations, wherein the laminations are interspersed with conductive windings. ### Claim 13 (depends on 12) The motor of claim 12, wherein the laminations comprise insulated Silicon Iron or Vanadium Permendur. ### Claim 14 (depends on 12) The motor of claim 12, wherein the laminations are of a configuration selected from the group consisting of: laminations of consistent width and positioned parallel to one another at skewed heights relative to one another; laminations of consistent width and positioned in a radial fashion relative to the spherical rotor; and laminations of a tapered width. ### Claim 15 (depends on 12) The motor of claim 12, wherein the laminations are interspersed with a plurality of conductive windings, wherein particular currents are applied to each of the windings to affect a travelling magnetic wave that is induced in the spherical rotor via the laminations, wherein the motor further comprises a processor that is configured to individually vary magnitudes and frequencies of currents applied to the windings to control the travelling magnetic wave. ### Claim 16 (depends on 15) The motor of claim 15, further comprising a velocity sensor, wherein the velocity sensor is configured to measure a velocity of rotation of the spherical rotor and transmit a signal representative of the measured velocity to the processor. ### Claim 17 (depends on 16) The motor of claim 16, wherein the velocity sensor is an optical sensor. ### Claim 18 (depends on 16) The motor of claim 16, wherein the processor is configured to further receive a command to rotate the spherical rotor, wherein the processor is configured to command variation of the magnitudes and the frequencies of the currents applied to the plurality of windings based upon the measured velocity and the command to rotate. ### Claim 19 (depends on 1) The motor of claim 1, wherein two of the curved inductors are positioned orthogonally to one another. ### Claim 20 (depends on 1) The motor of claim 1, wherein the plurality of inductors are positioned askew relative to one another along or parallel to a great circle of the spherical rotor. ### Claim 21 (depends on 1) The motor of claim 1, wherein the plurality of inductors are positioned in a non-degenerative arrangement to provide a set of torque axes. ### Claim 22 (depends on 1) The motor of claim 1, wherein the motor is a component of a ballbot, a mobile robot, a wrist joint, a shoulder joint, an antenna positioner, a sensor, a detector, a wheelchair, or a camera. ### Claim 23 (depends on 1) The motor of claim 1, wherein the curved inductors face in juxtaposition with said rotor, and wherein the curved inductors have a substantially spherical surface. ### Claim 24 A method of rotating a spherical rotor continuously among any combination of three independent axes, comprising: placing the spherical rotor within a plurality of curved inductors, wherein each of the curved inductors includes a plurality of windings; and individually varying a magnitude and frequency of current applied to each of the windings of each of the curved inductors to to induce a travelling magnetic wave in the spherical rotor to rotate the spherical rotor. ### Claim 25 (depends on 24) The method of claim 24, further comprising: optically measuring a rotation velocity of the spherical rotor; receiving a command for rotation of the spherical rotor; and altering the individually varied magnitudes and frequencies of currents based on the measured rotation and the command for rotation. ### Claim 26 (depends on 24) The method of claim 24, wherein the magnitudes and frequencies of currents are varied according to a control scheme, wherein the control scheme is a three-phase motor control scheme or a vector control scheme.