The utility model relates to a spherical motor based on the minimum reluctance principle. The spherical motor comprises a motor rotor, a rotor spherical shell, an outer stator, a base, a supporting bearing on the base, an end cover, a fixed bearing on the end cover and an output shaft. The rotor is of a six-pole salient pole structure and is not provided with a winding, the inner side of the rotorspherical shell is fixedly connected with rotor magnetic pole teeth to form a hollow sphere, and the output shaft penetrates the hollow sphere and is fixedly connected with the top. The outer statorcomprises a stator iron core, a winding coil and a stator shell; the stator iron core is divided into two parts, namely an autorotation stator iron core distributed along the equator and an inclined stator iron core distributed along the longitude line, and the two parts of iron cores are overlapped in the equator direction; eight salient pole teeth are evenly distributed on the inner side of therotation stator core along the equator, five salient pole teeth are distributed on the inner side of each section of the inclined stator core at equal latitude intervals, and a magnet exciting coil iswound on each salient pole tooth. The spherical motor provided by the utility model can realize three-degree-of-freedom motion, and has the advantages of simple motor structure, low system complexity, and easy rotor position detection, so that the system control precision and reliability are high, and the dynamic and static characteristics are good.