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To provide a rotor for a motor capable of effecting improved torque variation due to improvement in the induced voltage waveform and of effecting improved magnet torque in a permanent magnet type synchronous motor utilizing reluctance torque. A rotor 11 comprises a core 12 made of a ferromagnetic ma

To provide a rotor for a motor capable of effecting improved torque variation due to improvement in the induced voltage waveform and of effecting improved magnet torque in a permanent magnet type synchronous motor utilizing reluctance torque. A rotor 11 comprises a core 12 made of a ferromagnetic material, a given member of permanent magnets 14 are mounted in the outer surface of the core 12 circumferentially at equal intervals, and arrangement of the permanent magnets 14 is such that polarities N, S of the permanent magnets on the sides facing a stator are disposed alternately. Also, in the core 12 between the center axis of the core and the permanent magnets 14 are embedded arc-shaped permanent magnets 16 corresponding to the permanent magnets 14, respectively, and arrangement of the permanent magnets 14 is the same as that of the corresponding permanent magnets 16.

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To provide a rotor for a motor capable of effecting improved torque variation due to improvement in the induced voltage waveform and of effecting improved magnet torque in a permanent magnet type synchronous motor utilizing reluctance torque. A rotor 11 comprises a core 12 made of a ferromagnetic ma

To provide a rotor for a motor capable of effecting improved torque variation due to improvement in the induced voltage waveform and of effecting improved magnet torque in a permanent magnet type synchronous motor utilizing reluctance torque. A rotor 11 comprises a core 12 made of a ferromagnetic material, a given member of permanent magnets 14 are mounted in the outer surface of the core 12 circumferentially at equal intervals, and arrangement of the permanent magnets 14 is such that polarities N, S of the permanent magnets on the sides facing a stator are disposed alternately. Also, in the core 12 between the center axis of the core and the permanent magnets 14 are embedded arc-shaped permanent magnets 16 corresponding to the permanent magnets 14, respectively, and arrangement of the permanent magnets 14 is the same as that of the corresponding permanent magnets 16. fixed to and orthogonal to the second arm, the rotor further comprising a first permanent magnet disposed at a distal end of the first arm and a second permanent magnet disposed at a distal end of the second arm, the first and the second magnets movably supported adjacent along the interior surfaces of the first and second lamination stack respectively. 37. The motor of claim 30, wherein the first lamination stack comprises a plurality of parallel laminations. 38. The motor of claim 37, wherein the first lamination comprises radial slots. 39. The motor of claim 23, wherein the first lamination comprises parallel slots. 40. The motor of claim 30, wherein the first lamination stack comprises a plurality of radial disposed laminations. 41. The motor of claim 40, wherein the first lamination comprises radial slots. 42. The motor of claim 40, wherein the first lamination comprises parallel slots. 43. A motor having an output shaft movable in multiple degrees of freedom, the motor comprising: a stator, the stator having an interior curved surface and first and second stator coils wound in close proximity to said interior surface, said stator coils positioned substantially orthogonally to each other;