Motor assembly allowing output in multiple degrees of freedom
First Claim
1. A motor having an output shaft movable in multiple degrees of freedom, the motor comprising:
- a stator having an interior curved surface;
a first stator coil and a second stator coil wound in close proximity to the interior surface, but not extending inward of the interior curved surface, the first stator coil and the second stator coil positioned substantially orthogonally to each other; and
a rotor fixed to the output shaft and movably supported adjacent the interior surface of the stator with an air gap disposed between the rotor and the stator, the rotor including at least one magnet disposed thereon and being movable along the interior surface in directions defining at least a first and a second degree of freedom;
wherein upon energization of the first stator coil a first magnetic field is established to urge the rotor to rotate in a direction of the first degree of freedom, and upon energization of the second stator coil a second magnetic field is established to urge the rotor to rotate in a direction of the second degree of freedom, the second degree of freedom substantially perpendicular to the first degree of freedom.
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0 Petitions
Accused Products
Abstract
A motor allowing multiple degrees of output freedom includes a stator having an interior surface forming at least a portion of a sphere or curved surface and first and second substantially orthogonally positioned stator coils wound on the interior surface. A rotor is fixed to an output shaft and movably supported adjacent the stator with an air gap disposed between the rotor and the stator. The rotor includes a plurality of magnets disposed thereon and is movable along the interior surface in directions defining at least first and second degrees of freedom. Upon energization of the first stator coil, a first magnetic field is established to urge at least a first one of the magnets and the rotor in a direction of the first degree of freedom and upon energization of the second stator coil, a second magnetic field is established to urge at least a second one of the magnets and the rotor in a direction of the second degree of freedom.
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Citations
51 Claims
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1. A motor having an output shaft movable in multiple degrees of freedom, the motor comprising:
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a stator having an interior curved surface;
a first stator coil and a second stator coil wound in close proximity to the interior surface, but not extending inward of the interior curved surface, the first stator coil and the second stator coil positioned substantially orthogonally to each other; and
a rotor fixed to the output shaft and movably supported adjacent the interior surface of the stator with an air gap disposed between the rotor and the stator, the rotor including at least one magnet disposed thereon and being movable along the interior surface in directions defining at least a first and a second degree of freedom;
wherein upon energization of the first stator coil a first magnetic field is established to urge the rotor to rotate in a direction of the first degree of freedom, and upon energization of the second stator coil a second magnetic field is established to urge the rotor to rotate in a direction of the second degree of freedom, the second degree of freedom substantially perpendicular to the first degree of freedom. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A motor having an output shaft movable in multiple degrees of freedom, the motor comprising:
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a stator, the stator having an interior surface and first and second stator coils wound in close proximity to the interior surface, the stator coils positioned substantially orthogonally to each other, the stator comprising a plurality of laminations, the laminations radially disposed about a center point with a plane of each lamination extending through the center point; and
a rotor fixed to the output shaft and movably supported adjacent the stator with an air gap disposed between the rotor and the stator, the rotor including at least one magnet disposed thereon and being movable along the interior surface in directions defining at least first and second degrees of freedom. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21)
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22. A motor having an output shaft movable in multiple degrees of freedom, the motor comprising:
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a first stator, the first stator having an interior curved surface and a first stator coil, a second stator coil, and a third stator coil, the stator coils wound in close proximity to the interior surface;
a second stator, the second stator having an interior curved surface and a fourth stator coil, a fifth stator coil, and a sixth stator coil, the stator coils wound in close proximity to the interior surface;
a commutation system capable of changing the distribution of current in the first, second, third, fourth, fifth, and sixth coils to provide a desired force at each output shaft position; and
a rotor fixed to the output shaft and movably supported adjacent the first stator and the second stator with an air gap disposed between the rotor and the stators, the rotor including at least one magnet disposed thereon and being movable along the interior surfaces in directions defining at least first and second degrees of freedom. - View Dependent Claims (23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34)
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35. A lamination for use in a stator, comprising:
a ferromagnetic material having an arcuate surface orthogonal to a first side surface and a plurality of parallel slots. - View Dependent Claims (36, 37)
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38. A ferromagnetic lamination for use in a stator, comprising:
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an arcuate surface orthogonal to a side surface;
a plurality of non-uniform spreaders adjacent the arcuate surface; and
a plurality of slots extending from the spreaders away from the arcuate surface. - View Dependent Claims (39, 40, 41)
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42. A ferromagnetic lamination for use in a stator, comprising:
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an arcuate surface orthogonal to a side surface;
a plurality of uniform spreaders adjacent the arcuate surface; and
a plurality of radially extending slots extending from the spreaders away from the arcuate surface.
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43. A motor having an output shaft movable in multiple degrees of freedom, the motor comprising:
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a first stator portion and a second stator portion, each stator portion having a plurality of laminations, each lamination having an arcuate surface orthogonal to a side surface, a plurality of non-uniform spreaders adjacent the arcuate surface, and a plurality of slots extending from the spreaders away from the arcuate surface, each stator portion having a coil wound in close proximity to the arcuate surface, the first stator portion positioned substantially orthogonal to the second stator portion; and
a rotor fixed to the output shaft and movably supported adjacent the stator with an air gap disposed between the rotor and the stator, the rotor including at least one magnet disposed thereon and being movable along the interior surface in directions defining at least first and second degrees of freedom, wherein upon energization of the first stator coil a first magnetic field is established to urge the rotor to rotate in a direction of the first degree of freedom, and upon energization of the second stator coil a second magnetic field is established to urge the rotor to rotate in a direction of the second degree of freedom, the second degree of freedom substantially perpendicular to the first degree of freedom. - View Dependent Claims (44, 45)
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46. A method of providing force feedback to an output shaft of a motor, comprising the steps of:
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providing a first stator having a first interior curved surface and a first, a second, and a third stator coil wound in close proximity to the first interior surface, the first, the second, and the third stator coils overlapping each other;
providing a rotor fixed to the output shaft and movably supported adjacent the first interior surface of the first stator with an air gap disposed between the rotor and the first stator, the rotor being movable along the interior surfaces in a direction defining a first degree of freedom; and
energizing at least one of the first, the second, and the third stator coils to urge the rotor to rotate in a direction of a first degree of freedom. - View Dependent Claims (47, 48, 49, 50, 51)
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Specification