The purpose of this project was the development of a spherical stepper motor. This included electromechanical design, simulation and fabrication of the stepper motor and developing a suitable control circuit for interfacing with the computer. Download Full Report [pdf]
We were mainly inspired and guided by the work of Prof. Gregory S. Chirikjian et al in the field of spherical stepper motors. The versatility and the utility of spherical stepper motors was another reason of choosing this project.
Spherical motors have applications in robotics as ball and socket joints and in omni-directional vehicles.