SPHERICAL ELECTROMAGNETIC MACHINE WITH TWO DEGREES OF UNCONSTRAINED ROTATIONAL FREEDOM

A spherical electromagnetic machine includes a spherical stator, a plurality of longitudinal slots, a plurality of latitudinal slots, a plurality of longitudinal coils, a plurality of latitudinal coils, a first hemispherical shell rotor, and a second hemispherical shell rotor. The longitudinal slots and latitudinal slots are formed in, and are spaced evenly around, the outer surface. The longitudinal coils are disposed within a different one of the longitudinal slots. The latitudinal coils are disposed within a different one of the latitudinal slots. The first and second hemispherical shell rotors are mounted for rotation relative to the spherical stator body and have magnets on their inner surfaces. A Lorentz force causes movement of the first and second hemispherical shell rotors when electrical current is supplied to one or more of the longitudinal coils or to one or more of the latitudinal coils.