多自由度磁阻式主动磁悬浮球形电动关节机械集成度高，在控制和轨迹规划方面占有优势。但由于磁阻式球形电动关节悬浮和旋转精度受限于转子位姿和瞬时步距角，且不能实现绕过球心的任意轴旋转，致使响应速度不能达到最快。提出感应式主动磁悬浮球形电动关节，研究其旋转和悬浮机理，基于气隙磁感应强度分布建立关节的电磁悬浮力和电磁转矩数学模型；通过有限元仿真分析磁感应强度、电磁悬浮力和电磁转矩等的分布特性，建立主动磁悬浮球形电动关节系统的试验台，对关节转子位移特性、悬浮和旋转特性进行测试试验研究。

The multi-degree-of-freedom inductive spherical driving joint owns high mechanical integrity and has advantages such as control and trajectory planning. Because of its limit of rotor pose, instant stepping angle and inability to spin around any axis through center of sphere, the suspension and rotation precision of spherical reluctance driving joint isn’t high and the response speed can’t reach the best. Based on mechanism of rotation and suspension, due to distribution of air gap magnetic induction intensity, a novel inductive active maglev spherical driving joint is presented, and electromagnetic suspending force and electromagnetic torque are established. The magnetic induction intensity, electromagnetic suspending force and electromagnetic torque are analyzed through finite element simulation, a bench test of active maglev spherical driving joint is built, and displacement characters and suspension and rotation characters of joint rotor are studied.