CA2460142A1 - Motor assembly allowing output in multiple degrees of freedom - Google Patents

Motor assembly allowing output in multiple degrees of freedom Download PDF

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Publication number
CA2460142A1
CA2460142A1 CA002460142A CA2460142A CA2460142A1 CA 2460142 A1 CA2460142 A1 CA 2460142A1 CA 002460142 A CA002460142 A CA 002460142A CA 2460142 A CA2460142 A CA 2460142A CA 2460142 A1 CA2460142 A1 CA 2460142A1
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CA
Canada
Prior art keywords
motor
output shaft
stator
lamination stack
laminations
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CA002460142A
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French (fr)
Other versions
CA2460142C (en
Inventor
Christopher J. Corcoran
Richard R. Fontana
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Rockwell Collins Inc
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Individual
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Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of CA2460142A1 publication Critical patent/CA2460142A1/en
Application granted granted Critical
Publication of CA2460142C publication Critical patent/CA2460142C/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/02—Linear motors; Sectional motors
    • H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
    • H02K41/031—Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
    • G02B7/18—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors
    • G02B7/182—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for mirrors
    • G02B7/1822—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for mirrors comprising means for aligning the optical axis
    • G02B7/1827—Motorised alignment
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/0474—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks characterised by means converting mechanical movement into electric signals
    • G05G2009/04755—Magnetic sensor, e.g. hall generator, pick-up coil
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04766—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks providing feel, e.g. indexing means, means to create counterforce
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K2201/00—Specific aspects not provided for in the other groups of this subclass relating to the magnetic circuits
    • H02K2201/18—Machines moving with multiple degrees of freedom
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20012—Multiple controlled elements
    • Y10T74/20201—Control moves in two planes

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Combustion & Propulsion (AREA)
  • Electromagnetism (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Linear Motors (AREA)
  • Reciprocating, Oscillating Or Vibrating Motors (AREA)
  • Position Input By Displaying (AREA)
  • Mechanical Control Devices (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
  • Permanent Magnet Type Synchronous Machine (AREA)

Abstract

A motor allowing multiple degrees of output freedom includes a stator having first and second orthogonally positioned stator coils (16, 18) on the interi or surface of a curved surface (12). A rotor (36) fixed to an output shaft (22) and movably supported adjacent the stator includes a plurality of magnets (3 8, 40, 42, 44) disposed thereon and is movable along the interior surface. Upon energization of the first stator coil, a first magnetic field is established to force at least a first or second one of the magnets and the rotor in a direction in the first or second degree of freedom. A method of providing force feedback to the joystick handle includes providing a motor consistent with the invention for driving the joystick; sensing a position of the joystick; and energizing at least one of the coils (16, 18) to establish the feedback force against one or more of the magnets (38, 40, 42, 44).

Claims (76)

1. ~A motor having an output shaft movable in multiple degrees of freedom, the motor comprising:
a stator, the stator having an interior curved surface and first and second stator coils wound in close proximity to said interior surface, said stator coils positioned substantially orthogonally to each other; and a rotor fixed to said output shaft and movably supported adjacent said stator with an air gap disposed between said rotor and said stator, said rotor including at least one magnet disposed thereon and being movable along said interior surface in directions defining at least first and second degrees of freedom;
whereupon energization of said first stator coil a first magnetic field is established to urge said output shaft to rotate in a first plane and upon energization of said second stator coil a second magnetic field is established to urge said output shaft to rotate in a second plane substantially orthogonal to the first.
2. The motor of claim 1, wherein said first degree of freedom is substantially perpendicular to a longitudinal axis of wires of one of said first and second coils associated with the first degree of freedom and said second degree of freedom is substantially perpendicular to a longitudinal axis of wires of the other of said first and second coils.
3. The motor of claim 1, wherein said curved interior surface is defined by a stator back iron comprising a ferromagnetic material.
4. The motor of claim 1, wherein said interior curved surface defines at least a portion of a sphere.~
5. The motor of claim 1, wherein said curved interior surface is uniformly curved.
6. The motor of claim 1, wherein said at least one magnet is a permanent magnet.
7. The motor of claim 1, wherein said rotor includes a plurality of said magnets disposed thereon, and wherein each of said plurality of magnets forms a different side of a parallelogram with first and second ones of said magnets defining a first pair of parallel sides of said parallelogram which are substantially parallel to said first stator coil, and third and fourth ones of said magnets defining a second pair of parallel sides of said parallelogram which are substantially parallel to said second stator coil.
8. The motor of claim 7, wherein said parallelogram is a square.
9. The motor of claim 7, wherein said first and third ones of said magnets are configured with north poles disposed adjacent said stator coils and said second and fourth ones of said magnets are configured with south poles disposed adjacent said stator coils.
10. The motor of claim 1, wherein said rotor is supported adjacent said stator by a gimbal mechanism connected to said output shaft and supported on said stator.
11. The motor of claim 10, wherein said gimbal mechanism is configured to establish pivot points for said output shaft to allow motion of said rotor in said first and second degrees for freedom, said pivot points being aligned with an equator of said curved surface.
12. The motor of claim 1, wherein the output shaft is an input shaft.
13. The motor of claim 12, further comprising a sensor for detecting movement of said input shaft.
14. A motor having an output shaft movable in multiple degrees of freedom, said motor comprising:
a stator, said stator having an interior surface with first and second stator coils wound thereon, said stator coils positioned substantially orthogonally to each other;
and a rotor fixed to said output shaft and movably supported adjacent said stator with an air gap disposed between said rotor and said stator, said rotor including at least one magnet disposed thereon and being movable along said interior surface in directions defining at least first and second degrees of freedom;

wherein upon energization of said first stator coil a first magnetic field is established to urge said rotor to rotate in a direction of said first degree of freedom, and upon energization of said second stator coil a second magnetic field is established to urge said rotor to rotate in a direction of said second degree of freedom, the second degree of freedom substantially perpendicular to said first degree of freedom.
15. The motor of claim 14, wherein the output shaft is an input shaft.
16. The motor of claim 15, further comprising a sensor for detecting movement of said input shaft.
17. A motor having an output shaft movable in multiple degrees of freedom, said motor comprising:
a stator, said stator having an interior surface and first and second stator coils wound in close proximity to said interior surface, said stator coils positioned substantially orthogonally to each other, said stator comprising a plurality of laminations, said laminations radially disposed about a center point with a plane of each lamination extending through said center point; and a rotor fixed to said output shaft and movably supported adjacent said stator with an air gap disposed between said rotor and said stator, said rotor including at least one magnet disposed thereon and being movable along said interior surface in directions defining at least first and second degrees of freedom.
18. The motor of claim 17, whereupon energization of said first stator coil a first magnetic field is established to urge said output shaft to rotate in a first plane, and upon energization of said second stator coil a second magnetic field is established to urge said output shaft to rotate in a second plane substantially orthogonal to the first.
19. The motor of claim 27, wherein lamination comprises an arcuate surface perpendicular to said plane of said laminations.
20. The motor of claim 17, wherein each lamination comprises a wedge shape when viewed parallel to a longitudinal axis of said output shaft.
21. The motor claim of claim 17, wherein each lamination comprises a pair of parallel sides.
22. The motor claim of 21, wherein the laminations are separated by spacers to space the laminations more along an outside surface of the stator than along an inside surface of the stator.
23. The motor of claim 17, wherein the output shaft is an input shaft.
24. The motor of claim 21, further comprising a sensor for detecting movement of said input shaft.
25. A motor having an output shaft movable in multiple degrees of freedom, said motor comprising:
a stator, said stator having an interior surface and first and second stator coils wound in close proximity to said interior surface, said stator coils positioned substantially orthogonally to each other, the stator comprising a first plurality of parallel laminations and a second plurality of parallel laminations positioned in an arc about a center point, the first plurality arranged perpendicular to said second plurality;
and a rotor fixed to said output shaft and movably supported adjacent said stator with an air gap disposed between said rotor and said stator, said rotor including at least one magnet disposed thereon and being movable along said interior surface in directions defining at least first and second degrees of freedom.
26. The motor of claim 25, whereupon energization of said first stator coil a first magnetic field is established to urge said output shaft to rotate in a first plane, and upon energization of said second stator coil a second magnetic field is established to urge said output shaft to rotate in a second plane substantially orthogonal to the first.
27. The motor of claim 25, wherein the output shaft is an input shaft.
28. The motor of claim 27, further comprising a sensor for detecting movement of said input shaft.
29. The motor of claim 25, wherein the laminations comprise a plurality of parallel slots.
30. The motor of claim 29, wherein the parallel slots are perpendicular to a longitudinal axis of the output shaft when the output shaft is in a neutral position.
31. The motor of claim 25, wherein the plurality of laminations comprises a plurality of identical laminations.
32. The motor of claim 25, wherein each lamination comprises an interior surface having an arcuate face, the arcuate face being orthogonal to a side surface of the lamination.
33. The motor of claim 32, wherein the plurality of parallel laminations form a stepped concave surface about a longitudinal axis of the output shaft in a plane orthogonal to the side surface of the plurality of laminations.
34. A motor having an output shaft movable in multiple degrees of freedom, said motor comprising:
a stator, said stator having an interior surface and first and second stator coils wound in close proximity to said interior surface, said stator coils positioned substantially orthogonally to each other, the stator comprising a first plurality and a second plurality laminations arranged in an arc about a center point, the first plurality arranged perpendicular to said second plurality; and a rotor fixed to said output shaft, said rotor comprising a cross linkage having a first arm extending radially from the output shaft and a second arm extending radially from the output shaft, the first arm fixed to and orthogonal to the second arm, the rotor further comprising a first permanent magnet disposed at a distal end of the first arm and a second permanent magnet disposed at a distal end of the second arm, the first and the second magnets movably supported adjacent along said interior surface of said stator in directions defining at least first and second degrees of freedom.
35. The motor of claim 34, whereupon energization of said first stator coil a first magnetic field is established to urge said output shaft to rotate in a first plane, and upon energization of said second stator coil a second magnetic field is established to urge said output shaft to rotate in a second plane substantially orthogonal to the first.
36. The motor of claim 34, wherein the output shaft is an input shaft.
37. The motor of claim 35, further comprising a sensor for detecting movement of said input shaft.
38. The motor of claim 34, wherein the laminations comprise a plurality of parallel slots.
39. The motor of claim 38, wherein the parallel slots are perpendicular to a longitudinal axis of the output shaft when the output shaft is in a neutral position.
40. The motor of claim 34, wherein the plurality of laminations comprises a plurality of identical laminations.
41. The motor of claim 40, wherein each lamination comprises an interior surface having an arcuate face, the arcuate face being orthogonal to a side surface of the lamination.
42. The motor of claim 34, wherein the plurality of laminations comprise a plurality of parallel laminations.
43. The motor of claim 42, wherein the plurality of parallel laminations form a stepped concave surface in a plane orthogonal to a side surface of the plurality of laminations.
44. The motor of claim 34, wherein the laminations are radially disposed about the output shaft with a plane of each lamination extending through said output shaft.
45. The motor of claim 34, wherein the cross linkage is coupled to a ball joint at a center of the stator.
46. The motor of claim 34, wherein the cross linkage is coupled to a universal joint at a center of the stator.
47. The motor of claim 34, wherein the cross linkage is coupled to a gimbal at a center of the stator.
48. A lamination for use in a stator, comprising:

a ferromagnetic material having an arcuate surface orthogonal to a side surface and a plurality of parallel slots.
49. A motor having an output shaft movable in multiple degrees of freedom, said motor comprising:

a stator, said stator having an interior surface and first, second, and third stator coils wound in close proximity to said interior surface, said stator coils oriented substantially at an angle to each other, the stator comprising a first plurality, a second plurality, and a third plurality of laminations arranged in an arc about a center point, the first, second, and third plurality of coils arranged to pull the rotor in a plurality of rotations; and a rotor fixed to said output shaft, said rotor comprising a cross linkage having a first arm extending radially from the output shaft and a second arm extending radially from the output shaft, the first arm fixed to and orthogonal to the second arm, the rotor further comprising a first permanent magnet disposed at a distal end of the first arm and a second permanent magnet disposed at a distal end of the second arm, the first and the second magnets movably supported adjacent along said interior surface of said stator in directions defining at least first, second, and third degrees of freedom.
50. A motor having an output shaft movable in multiple degrees of freedom, said motor comprising:

a rotor coupled to the output shaft; and a stator comprising a first lamination stack and a second lamination stack, each lamination stack having an interior surface, the first lamination stack further comprising a first stator coil wound in close proximity to the interior surface of the first lamination stack and the second lamination stack comprising a second stator coil wound in close proximity to the interior surface of the second lamination stack, the first lamination stack and second lamination stack disposed about the longitudinal axis of the output shaft, the first lamination stack oriented such that a first plane formed by a first lamination in the first lamination stack forms an angle with the longitudinal axis of the output shaft and the second lamination stack oriented such that a second plane formed by a second lamination in the second lamination stack is substantially parallel with the longitudinal axis of the output shaft.
51. The motor of claim 50, whereupon energization of said first stator coil a first magnetic field is established to urge said output shaft to rotate about the longitudinal axis of the output shaft and upon energization of said second stator coil a second magnetic field is established to urge said output shaft to rotate in the second plane.
52. The motor of claim 50, wherein the angle is substantially 90°.
53. The motor of claim 50, wherein the angle is between 5°and 85°.
54. The motor of claim 50, wherein the first lamination stack is diametrically opposed the second lamination stack.
55. The motor of claim 50, wherein the first lamination stack is oriented 90°
about the longitudinal axis of the output shaft from the second lamination stack.
56. The motor of claim 50, wherein the rotor comprises a cross linkage having a first arm extending radially from the output shaft and a second arm extending radially from the output shaft, the first arm fixed to and orthogonal to the second arm, the rotor further comprising a first permanent magnet disposed at a distal end of the first arm and a second permanent magnet disposed at a distal end of the second arm, the first and the second magnets movably supported adjacent along the interior surfaces of the first and second lamination stack respectively.
57. The motor of claim 50, wherein the first lamination stack comprises a plurality of parallel laminations.
58. The motor of claim 57, wherein the laminations comprise parallel slots.
59. The motor of claim 50, wherein the first lamination stack comprises a plurality of radial disposed laminations.
60. The motor of claim 59, wherein the laminations comprise radial slots.
61. The motor of claim 59, wherein the laminations comprise parallel slots.
62. A motor having an output shaft movable in multiple degrees of freedom, said motor comprising:

a rotor coupled to the output shaft; and a stator comprising a first lamination stack and a second lamination stack, each lamination stack having an interior surface, the first lamination stack further omprising a first stator coil wound in close proximity to the interior surface of the first lamination stack and the second lamination stack comprising a second stator coil wound in close proximity to the interior surface of the second lamination stack, the first lamination stack and second lamination stack disposed about the longitudinal axis of the output shaft, the first lamination stack oriented such that a first plane formed by a first lamination in the first lamination stack forms a first angle with the longitudinal axis of the output shaft and the second lamination stack oriented such that a second plane formed by a second lamination in the second lamination stack forms a second angle with the longitudinal axis of the output shaft.
63. The motor of claim 62, whereupon energization of said first stator coil a first magnetic field is established to urge said output shaft to rotate in the first plane and upon energization of said second stator coil a second magnetic field is established to urge said output shaft to rotate in the second plane.
64. The motor of claim 62, wherein the first angle is between 5°and 85° and the second angle is between 5°and 85°.
65. The motor of claim 62, further comprising a third lamination stack and a forth lamination stack, a plane formed by a lamination in the third laminations stack substantially parallel with the longitudinal axis of the output shaft.
66. The motor of claim 62, wherein the first lamination stack is diametrically opposed the second lamination stack.
67. The motor of claim 62, wherein the first lamination stack is oriented 90°
about the longitudinal axis of the output shaft from the second lamination stack.
68. The motor of claim 62, wherein the rotor comprises a cross linkage having a first arm extending radially from the output shaft and a second arm extending radially from the output shaft, the first arm fixed to and orthogonal to the second arm, the rotor further comprising a first permanent magnet disposed at a distal end of the first arm and a second permanent magnet disposed at a distal end of the second arm, the first and the second magnets movably supported adjacent along the interior surfaces of the first and second lamination stack respectively.
69. The motor of claim 62, wherein the first lamination stack comprises a plurality of parallel laminations.
70. The motor of claim 69, wherein the laminations comprise radial slots.
71. The motor of claim 69, wherein the laminations comprise parallel slots.
72. The motor of claim 62, wherein the first lamination stack comprises a plurality of radial disposed laminations.
73. The motor of claim 72, wherein the laminations comprise radial slots.
74. The motor of claim 72, wherein the laminations comprise parallel slots.
75. The motor of claim 50, further comprising a third lamination stack and a forth lamination stack, a plane formed by a lamination in the third lamination stack substantially parallel with the longitudinal axis of the output shaft.
76. The motor of claim 57, wherein the laminations comprise radial slots.
CA2460142A 2001-09-18 2002-05-03 Motor assembly allowing output in multiple degrees of freedom Expired - Lifetime CA2460142C (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US09/953,662 US6664666B2 (en) 1998-12-23 2001-09-18 Motor assembly allowing output in multiple degrees of freedom
US09/953,662 2001-09-18
PCT/US2002/013859 WO2003025394A2 (en) 2001-09-18 2002-05-03 Motor assembly allowing output in multiple degrees of freedom

Publications (2)

Publication Number Publication Date
CA2460142A1 true CA2460142A1 (en) 2003-03-27
CA2460142C CA2460142C (en) 2010-07-20

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Family Applications (1)

Application Number Title Priority Date Filing Date
CA2460142A Expired - Lifetime CA2460142C (en) 2001-09-18 2002-05-03 Motor assembly allowing output in multiple degrees of freedom

Country Status (5)

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US (2) US6664666B2 (en)
EP (1) EP1427938A4 (en)
AU (1) AU2002303595A1 (en)
CA (1) CA2460142C (en)
WO (1) WO2003025394A2 (en)

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CA2460142C (en) 2010-07-20
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