Multi-freedom degree spherical motor

The utility model relates to a multi-freedom degree spherical motor which comprises a rotor sphere, rotor gears, an aluminum layer, an output shaft, ball bearings, stator windings and a stator shell. 48 rotor gears, 4 ball bearings and 1 output shaft are mounted on the rotor sphere; motions on eight vertical pitching directions and motion on one horizontal rotating direction, namely, motions of 9 freedom degrees can be realized through the output shaft. The ball bearings slide on the inner surface of the aluminum layer to keep the balance of the rotor sphere. 64 stator windings are arranged in a sandwich between the aluminum layer and the stator shell; spherical motions both on the horizontal rotating direction and the vertical pitching directions are completed by adopting four-phase control. The multi-freedom degree spherical motor has larger application values in robot driving systems and multi-freedom degree joint drive.