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This paper addresses the torque characteristic analysis of an axial flux-type non-contact permanent magnet device with a Halbach magnet array using a 3D analytical method based on transfer relations. We obtain the magnetic field distribution due to the permanent magnet. The magnetic torque is derived from the magnetic field using a Maxwell stress tensor. The analytical results are validated extensively by comparison with 3D finite element analysis. Therefore, we derive an accurate analytical solution to reduce the analysis time, and we present an experimental verification using a manufactured model.