Spherical motor and method
First Claim
1. A spherical motor for providing smooth isotropic motion, comprising:
- a spherical stator having a plurality of stator poles;
a spherical rotor surrounded by said stator and having a plurality of rotor poles;
a motor shaft mounted to either said rotor or said stator, said motor shaft for moving isotopically;
means for injecting a fluid between said rotor and said stator to allow relative movement between said rotor and said stator;
sensor means for sensing a position of said rotor relative to said stator; and
control means for varying the amount of fluid injected between said rotor and said stator in order to provide a desired gap between said rotor and said stator.
2 Assignments
0 Petitions
Accused Products
Abstract
A spherical motor (10) provides smooth isotropic motion. The spherical motor (10) has a spherical stator (12) surrounding a spherical rotor (18). A motor shaft (24) is mounted to the rotor (18), or alternatively, to the stator (12) for performing work in isotropic motion. A grid pattern is situated to move substantially concentrically with the rotor (18) and in conjunction with the motor shaft (24). A vision system (80) monitors the grid pattern (42) and determines in real time the position of the motor shaft (24). The vision system (80) has at least one image sensor (44) positioned on the stator (12) and a computer system (82) for processing data independent of a remote host computer (122). Further, a motor controller (191) using a motor control algorithm (200) may be interfaced with the vision system (80) to thereby derive a motor control system (190) for controlling the spherical motor (10) based upon the rotor orientation information retrieved by the vision system (80). Finally, a video controller (106) can be interfaced with the vision system (80) for converting digital image data in real time to analog image data conforming to the RS-170 television standard for viewing on a display device (116).
87 Citations
29 Claims
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1. A spherical motor for providing smooth isotropic motion, comprising:
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a spherical stator having a plurality of stator poles; a spherical rotor surrounded by said stator and having a plurality of rotor poles; a motor shaft mounted to either said rotor or said stator, said motor shaft for moving isotopically; means for injecting a fluid between said rotor and said stator to allow relative movement between said rotor and said stator; sensor means for sensing a position of said rotor relative to said stator; and control means for varying the amount of fluid injected between said rotor and said stator in order to provide a desired gap between said rotor and said stator. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A spherical motor for providing smooth isotropic motion, comprising:
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a spherical stator having a plurality of stator poles; a spherical rotor surrounded by said stator and having a plurality of rotor poles; a motor shaft mounted to either said rotor or said stator, said motor shaft for moving isotopically; means for permitting relative movement between said rotor and said stator; a grid pattern substantially concentric with said rotor and movable concentrically about said rotor in conjunction with said motor shaft; an image sensor for viewing said grid pattern; control means for varying an amount of fluid injected between said rotor and said stator in order to provide a desired gap between said rotor and said stator; and processing means associated with said image sensor, said processing means for determining a shaft position of said motor shaft based upon said grid pattern. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19)
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20. A method for providing frictionless isotropic motion in a spherical motor comprising a spherical stator having a plurality of stator poles, a spherical rotor surrounded by said stator and having a plurality of rotor poles, and a motor shaft for moving isotopically, the method comprising the steps of:
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injecting a fluid into said stator; measuring a gap between said rotor and said stator; controlling an amount of fluid injected into said stator so that said gap between said rotor and said stator is uniform; and suspending said rotor within said stator to allow relative movement between said rotor and said stator. - View Dependent Claims (21, 22, 23, 24, 25, 26, 27, 28, 29)
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Specification