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This article presents a new type of double stator swing rotating permanent magnet spherical motor (DSSRPMSM), which can realize swing, rotation, and helical motion and is used in industrial robots, gyroscopes, satellite communications, and other fields. The proposed spherical motor consists of two stators and a hollow rotor with permanent magnet (PM) poles on its inner and outer surfaces. Compared with most spherical motor with hollow coil and traditional PM synchronous motor, the structure of the motor is different and novel, and it is difficult to find a more perfect design theory and method. Thus, this article introduces the new idea of motor design in detail. First, the structure and working principle of the motor are introduced, and the original design of the motor is carried out. The 2-D rough estimation and 3-D FEM accurate simulation calculation are carried out, and the electromagnetic characteristics of the motor are obtained, including magnetic flux density distribution, torque, and loss. The simulation results meet the design specifications of the motor. A prototype was built and tested. The experimental results are in good agreement with the 3-D FEM analysis. The design method provides a theoretical basis for the design of this kind of spherical motor. The research results lay a foundation for the subsequent optimization of the motor. [ABSTRACT FROM AUTHOR]