The multiple degree-of-freedom (DOF) motor is expected to be widely used in multi DOF systems such as robots and robot hands.However,although many kinds of prototypes have been developed so far,most of them still lie in the stage of laboratory investigation,and the motor mechanical mechanism and control system are complex with difficult manufacture,large volume and low material utilization rate.In order to promote the commercialized process and practical applications of multiple DOF motors,a novel stator-permanent-magnet spherical 2-DOF hybrid stepping motor was proposed.Its structure and operation principle were introduced; the motors tooth layer normalized analysis model was carried out to analyze the no-load and load performance,with the conclusion obtained being universal for the analysis of this kind of motor.Finally,a prototype of the proposed motor with outside diameter of 50 mm was designed and compared with the rotor-permanent-magnet one of the same specification,the superiorities of the motor performance and feasibility of the tooth layer normalized analysis method were verified by finite element analysis.