CN115946146B

CN115946146B - Two-degree-of-freedom actuating mechanism for manipulator and driving method

Info

Publication number: CN115946146B
Application number: CN202310255922.6A
Authority: CN
Inventors: 韩乐; 矫日华
Original assignee: Individual
Current assignee: Individual
Priority date: 2023-03-16
Filing date: 2023-03-16
Publication date: 2023-05-05
Anticipated expiration: 2043-03-16
Also published as: CN115946146A

Abstract

The application relates to the technical field of manipulators and discloses a two-degree-of-freedom actuating mechanism and a driving method for a manipulator, wherein the two-degree-of-freedom actuating mechanism comprises a rotor assembly, a connecting rod mechanism and two stator assemblies, the rotor assembly is arranged above the stator assemblies, and the rotor assembly is hinged with the connecting rod mechanism; the two stator assemblies are used for driving the rotor assemblies to move along the x-axis direction through magnetic field driving when three-phase alternating currents with the same amplitude and frequency are supplied, so that the connecting rod mechanism is driven to swing back and forth; the two stator assemblies are used for driving the rotor assemblies to move along the y-axis direction through magnetic field driving when three-phase alternating currents with different amplitudes and frequencies are introduced, so that the connecting rod mechanism is driven to swing left and right, and the two stator assemblies are arranged side by side; the stator assembly comprises a plurality of groups of three-phase runway-type coils, the plurality of groups of three-phase runway-type coils are sequentially connected in series, and the plurality of groups of three-phase runway-type coils are paved along the x-axis direction. The actuating mechanism has the beneficial effects of miniaturization and high groove filling rate.

Description

Two-degree-of-freedom actuating mechanism for manipulator and driving method

Technical Field

The invention belongs to the technical field of manipulators, and particularly relates to a two-degree-of-freedom executing mechanism for a manipulator and a driving method.

Background

With the development of modern industry, robots are increasingly applied to various industries, robots start to replace part of human work, and the robot hand as an end actuating mechanism of the robots directly influences the actuating effect.

Specific requirements of the manipulator in each field are different, for example, the weight grabbing robot requires the manipulator to have enough strength and accurate grip strength control, and in the fields of medical operation, precision equipment and the like, the manipulator is required to be miniaturized as far as possible under the premise of ensuring the precision and enough load. The multiple degrees of freedom, the multi-finger cooperation capability and the flexible characteristic of the anthropomorphic manipulator enable the anthropomorphic manipulator to be increasingly applied to scenes with fine operation requirements. The anthropomorphic manipulator needs to simulate bending movements of multiple degrees of freedom of a human hand, such as opening and clamping movements, so that the joint of the anthropomorphic manipulator can realize movements of multiple degrees of freedom, and the traditional mode is to respectively configure independent power sources for different degrees of freedom of joints, but the mode can lead to the increase of the overall weight of the manipulator and difficult miniaturization, so that the research of a robot executing mechanism with multiple degrees of freedom is imperative.

Disclosure of Invention

The purpose of the application is to provide a two-degree-of-freedom actuating mechanism for a manipulator and a driving method, which can realize that a single power source can complete the swinging motion of the manipulator in two degrees of freedom, and are beneficial to reducing the weight of the manipulator and realizing the miniaturization of the manipulator.

In one aspect, the application provides a two-degree-of-freedom actuator for a manipulator, comprising a mover assembly, a linkage mechanism and two stator assemblies, wherein the mover assembly is arranged above the stator assemblies, and the mover assembly is hinged with the linkage mechanism; the two stator assemblies are used for driving the rotor assemblies to move along the x-axis direction through magnetic field driving when three-phase alternating currents with the same amplitude and frequency are introduced, so that the connecting rod mechanism is driven to swing back and forth; the two stator components are used for enabling the rotor component to move along the y-axis direction through magnetic field driving when three-phase alternating currents with different amplitudes and different frequencies are introduced, so that the connecting rod mechanism is driven to swing left and right.

The application provides a two degree of freedom actuating mechanism for manipulator adopts the transmission mode that active cell subassembly, stator module and link mechanism combined together, moves along x axle direction or y axle direction through driving active cell subassembly to make link mechanism possess the degree of freedom of horizontal hunting and the degree of freedom of back-and-forth hunting, compare in traditional two degree of freedom actuating mechanism, the design of this application need not two power supplies, greatly reduced mechanical structure's complexity and whole weight, and the volume is less, realized the microminiaturization of manipulator.

Further, the application provides a two degree of freedom actuating mechanism for manipulator, still includes guide rail assembly, guide rail assembly includes track and at least one first slider, first slider is along the slip of x-axis direction setting on the track, the runner assembly is along the slip of y-axis direction setting on the first slider.

By the arrangement mode, the positioning and the supporting of the rotor assembly can be realized, so that the rotor assembly can accurately slide along the length direction or the width direction of the track.

Further, the two-degree-of-freedom actuator for the manipulator provided by the application, wherein the rotor assembly comprises a second sliding block and a plurality of permanent magnets, and the permanent magnets are arranged on one side, facing the stator assembly, of the second sliding block.

Further, the two-degree-of-freedom actuator for the manipulator provided by the application, wherein the second slider is arranged between the first slider and the stator assembly.

Through the arrangement mode, the permanent magnet on the second sliding block can be fully exposed in the magnetic field generated by the stator assembly, the blocking of magnetic flux is reduced, and the driving effect is improved.

Further, the two-degree-of-freedom actuator for the manipulator provided by the application is characterized in that the two stator assemblies are arranged side by side in the y-axis direction; the stator assembly comprises a plurality of groups of three-phase runway type coils, a plurality of groups of three-phase runway type coils are sequentially connected in series, and a plurality of groups of three-phase runway type coils are paved along the x-axis direction.

Further, the two-degree-of-freedom actuating mechanism for the manipulator provided by the application, every three-phase runway type coil includes first runway type coil, second runway type coil and third runway type coil, first runway type coil with third runway type coil is arranged along x axle direction straight line, second runway type coil sets up first runway type coil with the top of third runway type coil, the both ends of second runway type coil respectively with first runway type coil with third runway type coil star connects.

In practical application, the design can ensure the flatness of the coil and is suitable for flat wire wound coils.

Further, the two-degree-of-freedom actuator for a manipulator provided by the application, the number of turns of the second racetrack coil is smaller than the number of turns of the first racetrack coil and the number of turns of the third racetrack coil.

Further, the two-degree-of-freedom actuator for the manipulator provided by the application, wherein the straight edges of the first runway-type coil, the second runway-type coil and the third runway-type coil are all arranged along the x-axis direction.

Further, the two-degree-of-freedom actuating mechanism for the manipulator provided by the application, the link mechanism comprises a first link, a second link, a first ball joint and a second ball joint, one end of the first link is hinged with the second slider, the end of the track is connected with the second link through the first ball joint, one end of the second link, which is far away from the first ball joint, is connected with one end of the first link, which is far away from the second slider, through the second ball joint.

On the other hand, the invention also provides a driving method for driving the two-degree-of-freedom actuating mechanism for the manipulator, wherein when the mover assembly is required to be driven to move along the x-axis direction, three-phase alternating currents with the same amplitude and frequency are respectively fed into the two groups of stator assemblies, so that the mover assembly moves along the x-axis direction;

when the rotor assembly is required to be driven to move along the y-axis direction, three-phase alternating currents with different amplitudes and different frequencies are respectively supplied to the two groups of stator assemblies, so that the rotor assembly moves along the y-axis direction.

The application provides a two degree of freedom actuating mechanism and driving method for manipulator adopts the transmission mode that active cell subassembly, stator module and link mechanism combined together, moves along x axle direction or y axle direction through driving active cell subassembly to make link mechanism possess left and right wobbling degree of freedom and back and forth wobbling degree of freedom, compare in traditional two degree of freedom actuating mechanism, the design of this application need not two power supplies, greatly reduced mechanical structure's complexity and whole weight, and the volume is littleer, realized the microminiaturization of manipulator.

The beneficial effects are that: 1. the structure is simple, a speed reducer and a transmission mechanism are not needed, the system structure is simplified, the weight and the volume are reduced, the cost is saved, and the production, the manufacture and the maintenance are simpler;

2. the safety and reliability, high acceleration, small mechanical friction loss, low failure rate and long service life;

3. the rotor assembly and the stator assembly can be sealed by epoxy resin, have good corrosion resistance and moisture resistance, and are convenient to use in humid, dust and harmful gas environments.

Drawings

Fig. 1 is a schematic structural diagram of a two-degree-of-freedom actuator for a manipulator according to the present application.

Fig. 2 is a schematic structural diagram of a mover assembly provided in the present application.

Fig. 3 is a side view of a conventional stator assembly provided herein.

Fig. 4 is a schematic structural diagram of a stator assembly provided in the present application.

Description of the reference numerals:

100. a mover assembly; 110. a second slider; 120. a permanent magnet; 200. a stator assembly; 210. a first racetrack coil; 220. a second racetrack coil; 230. a third racetrack coil; 300. a link mechanism; 310. a first link; 320. a second link; 330. a first ball joint; 340. a second ball joint; 400. a track; 500. a first slider.

Detailed Description

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present invention and are not to be construed as limiting the present invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically connected, electrically connected or can be communicated with each other; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

The following disclosure provides many different embodiments, or examples, for implementing different features of the invention. In order to simplify the present disclosure, components and arrangements of specific examples are described below. They are, of course, merely examples and are not intended to limit the invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, which are for the purpose of brevity and clarity, and which do not themselves indicate the relationship between the various embodiments and/or arrangements discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art will recognize the application of other processes and/or the use of other materials.

As shown in fig. 1, the two-degree-of-freedom actuator for a manipulator of the present invention includes a mover assembly 100, a link mechanism 300 and two stator assemblies 200, wherein the mover assembly 100 is disposed above the stator assemblies 200, and the mover assembly 100 is hinged with the link mechanism 300; the two stator assemblies 200 are used for driving the mover assembly 100 to move along the x-axis direction through magnetic field driving when three-phase alternating currents with the same amplitude and frequency are supplied, so as to drive the link mechanism 300 to swing back and forth; the two stator assemblies 200 are used for driving the mover assembly 100 to move along the y-axis direction by magnetic field driving when three-phase alternating currents with different magnitudes and different frequencies are supplied, so as to drive the link mechanism 300 to swing left and right.

The application provides a two degree of freedom actuating mechanism for manipulator adopts the transmission mode that active cell subassembly 100, stator module 200 and link mechanism 300 combined together, moves along x axle direction or y axle direction through driving active cell subassembly 100 to make link mechanism 300 possess left and right wobbling degree of freedom and front and back wobbling degree of freedom, compare in traditional two degree of freedom actuating mechanism, the design of this application need not two power supplies, greatly reduced mechanical structure's complexity and whole weight, and the volume is less, realized the microminiaturization of manipulator.

Referring to fig. 1-2, in some embodiments, the two-degree-of-freedom actuator for a manipulator provided herein further includes a rail assembly including a rail 400 and at least one first slider 500, the first slider 500 being slidably disposed on the rail 400 along an x-axis direction, and the mover assembly 100 being slidably disposed on the first slider 500 along a y-axis direction. The length direction of the track 400 is defined as the x-axis direction, and the width direction of the track 400 is defined as the y-axis direction. In other embodiments, the track 400 may be groove-shaped, and the first slider 500 may be slidably disposed on a sidewall of the track 400 along the x-axis direction, and the stator assembly 200 may be disposed on a bottom plate of the track 400, which is not particularly limited herein. The number of the first sliders 500 may be set according to the length of the mover assembly 100, and the longer the length of the mover assembly 100, the greater the number of the corresponding first sliders 500. By this arrangement, the positioning and supporting of the mover assembly 100 can be achieved, so that the mover assembly 100 can be accurately slid in the length direction or the width direction of the rail 400.

In some embodiments, the track 400 may be provided with displacement and speed sensors, optionally with gratings, magnetic gratings, phase detection coils, etc., and the end of the track 400 may be provided with a micro limit switch for detecting the limit position.

In a further embodiment, the mover assembly 100 includes a second slider 110 and a plurality of permanent magnets 120, the plurality of permanent magnets 120 being disposed at a side of the second slider 110 facing the stator assembly 200. The permanent magnet 120 has two types, i.e., an N-pole body and an S-pole body, where the N-pole body refers to the N-pole of the permanent magnet 120 facing the stator assembly 200, and the S-pole body refers to the S-pole of the permanent magnet 120 facing the stator assembly 200. The plurality of permanent magnets 120 are arranged along the length direction of the track 400 in an arrangement of N pole bodies, S pole bodies, N pole bodies, S pole bodies. By this arrangement, the mover assembly 100 can be slid by the magnetic field.

In a further embodiment, the second slider 110 is disposed between the first slider 500 and the stator assembly 200. By the arrangement mode, the permanent magnet 120 on the second slider 110 can be fully exposed to the magnetic field generated by the stator assembly 200, so that the blocking of magnetic flux is reduced, and the driving effect is improved.

Referring to fig. 4, in other embodiments, two stator assemblies 200 are disposed side-by-side in the y-axis direction; the stator assembly 200 includes a plurality of three-phase racetrack coils (racetrack coils refer to coils including two straight edges and two semicircular edges, the two straight edges are parallel to each other and symmetrically arranged, first ends of the two straight edges are respectively connected with two ends of one semicircular edge, second ends of the two straight edges are respectively connected with two ends of the other semicircular edge), the plurality of three-phase racetrack coils are sequentially connected in series, and the plurality of three-phase racetrack coils are laid along the x-axis direction. By the arrangement mode, the traveling wave magnetic field can be generated under the condition of electrifying, and the traveling wave magnetic field interacts with the magnetic field of the rotor assembly 100 to generate lorentz forces in different directions, so that the rotor assembly 100 is pushed to move along the x-axis or the y-axis.

Referring to fig. 3, in some conventional embodiments, the first racetrack coil 210, the second racetrack coil 220, and the third racetrack coil 230 of each set of three-phase racetrack coils are each positioned next to each other and are disposed at an incline. However, for some flat wire coils, this approach is not suitable because the flat wire coil cannot be bent. In practical application, the coil wound by the flat wire has the core advantages of small volume, high efficiency, strong heat conduction, low temperature rise and low noise.

In some preferred embodiments, each set of three-phase racetrack coils includes a first racetrack coil 210, a second racetrack coil 220, and a third racetrack coil 230, the first racetrack coil 210 and the third racetrack coil 230 being arranged in a straight line along the x-axis direction (in the case that the track 400 is groove-shaped, the first racetrack coil 210 and the third racetrack coil 230 may be fixed on the bottom plate of the track 400), the second racetrack coil 220 being disposed above the first racetrack coil 210 and the third racetrack coil 230, both ends of the second racetrack coil 220 being in star connection with the first racetrack coil 210 and the third racetrack coil 230, respectively. Wherein the third racetrack coil 230 of the first set of three-phase racetrack coils acts as the first racetrack coil 210 of the second set of three-phase racetrack coils. In practical application, the design can ensure the flatness of the coil and is suitable for flat wire wound coils.

In a further embodiment, the number of turns of the second racetrack coil 220 is less than the number of turns of the first racetrack coil 210 and the number of turns of the third racetrack coil 230. By this arrangement, the homogeneity of the travelling wave magnetic field generated by the stator assembly 200 can be ensured.

In still further embodiments, straight sides of the first racetrack coil 210, the second racetrack coil 220, and the third racetrack coil 230 are all disposed along the x-axis direction. Through the arrangement mode, materials can be reduced, the width of the groove guide rail is reduced, the groove filling rate and the power density are improved, and the miniaturization of the manipulator is further realized.

In some embodiments, the link mechanism 300 includes a first link 310, a second link 320, a first ball joint 330, and a second ball joint 340, one end of the first link 310 is hinged with the second slider 110, the end of the rail 400 is connected through the first ball joint 330 and the second link 320, and one end of the second link 320 remote from the first ball joint 330 is connected through the second ball joint 340 and one end of the first link 310 remote from the second slider 110. In this arrangement, when the mover assembly 100 moves in the x-axis direction, the first link 310 moves along with the hinge in the x-axis direction, and then drives the second link 320 to swing back and forth around the bottom first ball joint 330 through the second ball joint 340; when the mover assembly 100 moves along the y-axis direction, the first link 310 moves left and right along the y-axis direction along with the mover assembly 100, so as to drive the second link 320 to swing along the conical surface around the bottom first ball joint 330, because the front hinge of the mover assembly 100 does not have the freedom of swinging left and right along the y-axis direction. The motion trajectory of the second link 320 is determined by the motion of the sub-assembly 100, so that the trajectory control thereof requires the cooperative control of the motions in two directions, and the given motion can be completed by calculating suitable three-phase alternating current and direct current components. By this arrangement, the linkage 300 can be swung in different degrees of freedom, enabling multi-axis rotation about the bottom first ball joint 330.

On the other hand, the present invention further provides a driving method for driving the two-degree-of-freedom actuator for a manipulator, where when the mover assembly 100 needs to be driven to move along the x-axis direction, three-phase ac with the same amplitude and frequency is respectively supplied to the two groups of stator assemblies 200, so that the mover assembly 100 moves along the x-axis direction;

when the mover assembly 100 needs to be driven to move along the y-axis direction, three-phase alternating currents with different magnitudes and different frequencies are respectively supplied to the two groups of stator assemblies 200, so that the mover assembly 100 moves along the y-axis direction.

The two groups of stator assemblies 200 are respectively powered by two three-phase power supply circuits, and can be powered by adopting a PWM or SVPWM modulation mode. When three-phase alternating currents with the same amplitude and frequency are fed into the two groups of stator assemblies 200, a traveling wave magnetic field with the amplitude and the phase changing according to sine is generated above the stator assemblies 200, wherein magnetic field components in the advancing direction interact with the magnetic field of the rotor assembly 100 to generate lorentz force, and the rotor assembly 100 is further pushed to move back and forth, namely move along the x-axis direction; meanwhile, the magnetic field components exist in the left-right direction of the two groups of stator assemblies 200, namely, the y-axis direction, and the lorentz force generated by the magnetic field components in the left-right direction of the two groups of stator assemblies 200 is not balanced any more by changing the current amplitude and frequency of the two groups of stator assemblies 200 or adding a direct current component to one group of stator assemblies 200, so that the mover assembly 100 is pushed to move left and right.

The application provides a two degree of freedom actuating mechanism and driving method for manipulator adopts the transmission mode that active cell subassembly 100, stator module 200 and link mechanism 300 combined together, moves along x axis direction or y axis direction through driving active cell subassembly 100 to make link mechanism possess the degree of freedom of horizontal hunting and the degree of freedom of back and forth hunting, compare in traditional two degree of freedom actuating mechanism, the design of this application need not two power supplies, greatly reduced mechanical structure's complexity and whole weight, and the volume is littleer, realized the microminiaturization of manipulator.

In the description of the present specification, reference to the terms "one embodiment," "certain embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

What has been described above is merely some embodiments of the present invention. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit of the invention.

Claims

1. The two-degree-of-freedom actuator for the manipulator is characterized by comprising a rotor assembly (100), a connecting rod mechanism (300) and two stator assemblies (200), wherein the rotor assembly (100) is arranged above the stator assemblies (200), and the rotor assembly (100) is hinged with the connecting rod mechanism (300); the two stator assemblies (200) are used for driving the rotor assemblies (100) to move along the x-axis direction through magnetic field driving when three-phase alternating currents with the same amplitude and frequency are supplied, so that the link mechanism (300) is driven to swing back and forth; the two stator assemblies (200) are used for driving the rotor assemblies (100) to move along the y-axis direction through magnetic field driving when three-phase alternating currents with different magnitudes and different frequencies are supplied, so that the link mechanism (300) is driven to swing left and right.

2. The two degree of freedom actuator for a manipulator of claim 1 further comprising a rail assembly including a rail (400) and at least one first slider (500), the first slider (500) being slidably disposed on the rail (400) along an x-axis direction and the sub-assembly (100) being slidably disposed on the first slider (500) along a y-axis direction.

3. The two-degree-of-freedom actuator for a robot arm according to claim 2, wherein the mover assembly (100) includes a second slider (110) and a plurality of permanent magnets (120), the plurality of permanent magnets (120) being disposed at a side of the second slider (110) facing the stator assembly (200).

4. A two degree of freedom actuator for a manipulator according to claim 3 wherein the second slider (110) is disposed between the first slider (500) and the stator assembly (200).

5. The two-degree-of-freedom actuator for a manipulator of claim 2 wherein two of the stator assemblies (200) are arranged side-by-side in the y-axis direction; the stator assembly (200) comprises a plurality of groups of three-phase runway-type coils, a plurality of groups of three-phase runway-type coils are sequentially connected in series, and a plurality of groups of three-phase runway-type coils are paved along the x-axis direction.

6. The two-degree-of-freedom actuator for a robot of claim 5 wherein each set of the three-phase racetrack coils includes a first racetrack coil (210), a second racetrack coil (220), and a third racetrack coil (230), the first racetrack coil (210) and the third racetrack coil (230) being arranged in a straight line along an x-axis direction, the second racetrack coil (220) being disposed above the first racetrack coil (210) and the third racetrack coil (230), both ends of the second racetrack coil (220) being in star connection with the first racetrack coil (210) and the third racetrack coil (230), respectively.

7. The two degree of freedom actuator of claim 6 wherein the number of turns of the second racetrack coil (220) is less than the number of turns of the first racetrack coil (210) and the number of turns of the third racetrack coil (230).

8. The two degree of freedom actuator of claim 6 wherein straight sides of the first racetrack coil (210), the second racetrack coil (220), and the third racetrack coil (230) are all disposed along the x-axis direction.

9. A two degree of freedom actuator for a manipulator according to claim 3, wherein the linkage (300) comprises a first link (310), a second link (320), a first ball joint (330) and a second ball joint (340), one end of the first link (310) being hinged to the second slider (110), the end of the track (400) being connected by the first ball joint (330) and the second link (320), the end of the second link (320) remote from the first ball joint (330) being connected by the second ball joint (340) and the end of the first link (310) remote from the second slider (110).

10. A driving method for driving the two-degree-of-freedom actuator for a manipulator according to any one of claims 1 to 9, wherein when the mover assembly (100) is required to be driven to move in the x-axis direction, three-phase alternating currents with the same amplitude and frequency are respectively supplied to the two groups of stator assemblies (200) to move the mover assembly (100) in the x-axis direction;

when the rotor assembly (100) is required to be driven to move along the y-axis direction, three-phase alternating currents with different amplitudes and different frequencies are respectively fed into the two groups of stator assemblies (200), so that the rotor assembly (100) moves along the y-axis direction.