Two degree-of-freedom electromagnetic machine

A two degree-of-freedom electromagnetic machine, comprising:

• an inner stator comprising an inner stator structure and a plurality of arc-shaped stator pole shoes, the inner stator structure comprising a main body and a plurality of spokes extending radially outwardly from the main body, the spokes spaced apart from each other to define a plurality of stator slots, each arc-shaped stator pole shoe having an inner surface and an outer surface, each arc-shaped stator pole shoe connected to a different one of the spokes;
• a plurality of stator windings wound around the spokes extending through the stator slots;
• an outer stator surrounding at least a portion of the inner stator, the outer stator having an outer stator inner surface and an outer stator outer surface;
• a voice coil winding disposed on the outer stator inner surface;
• a rotor spaced apart from, and disposed between, the inner stator and the outer stator, the rotor at least partially surrounding the inner stator and at least partially surrounded by the outer stator, the rotor having a rotor inner surface and a rotor outer surface and configured to rotate about a plurality of perpendicular axes;
• a plurality of spin magnets coupled to the rotor inner surface;
• and
• a plurality of tilt magnets coupled to the rotor outer surface,
• wherein:
• the arc-shape and spacing of the stator pole shoes define a spherical shape,
• the plurality of stator windings, when electrically energized, impart a torque on the rotor that causes the rotor to rotate, relative to the inner and outer stators, about a first rotational axis, and
• the voice coil winding, when electrically energized, imparts a torque on the rotor that causes the rotor to rotate, relative to the inner and outer stators, about a second rotational axis that is perpendicular to the first rotational axis.