JP6881901B2 - 多自由度球面アクチュエータ - Google Patents
多自由度球面アクチュエータ Download PDFInfo
- Publication number
- JP6881901B2 JP6881901B2 JP2016131241A JP2016131241A JP6881901B2 JP 6881901 B2 JP6881901 B2 JP 6881901B2 JP 2016131241 A JP2016131241 A JP 2016131241A JP 2016131241 A JP2016131241 A JP 2016131241A JP 6881901 B2 JP6881901 B2 JP 6881901B2
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- JP
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- Prior art keywords
- symmetry
- coil
- axis
- spherical
- electric element
- 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.)
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K33/00—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system
- H02K33/12—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system with armatures moving in alternate directions by alternate energisation of two coil systems
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
- H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
- H02K21/22—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating around the armatures, e.g. flywheel magnetos
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K3/00—Details of windings
- H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
- H02K3/28—Layout of windings or of connections between windings
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Reciprocating, Oscillating Or Vibrating Motors (AREA)
- Linear Motors (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Description
更に、文脈によって、異なる要素の間の関係を説明する際に使用される「接続する(connect)」又は「結合される(coupled to)」などの語は、これらの要素の間に直接的な物理的接続がなされなければならないことを含意しない。例えば、2つの要素は、1つ又は複数の追加的な要素を介して、互いに対して物理的に、電気的に、論理的に、又は他の任意の形で接続されてよい。
102 球状ステータ
104 電動子
106 磁石
106−1 第1の磁石
106−2 第2の磁石
108 対称軸
108−1 第1の対称軸
108−2 第2の対称軸
108−3 第3の対称軸
112 取り付け構造
114 内側面
115 装置
116 外側面
202 コイル
202−1 第1のコイル
202−2 第2のコイル
202−3 第3のコイル
204 磁束
502 第1の交流電流
504 第2の交流電流
602 第3の交流電流
702 第3の交流電流
802 第3の交流電流
900 多自由度作動制御システム
902 制御部
904 位置センサ
1002 電子装置
1302 突起
1302−1 突起
1302−2 突起
1302−3 突起
1302−N 突起
Claims (2)
- 第1の対称軸と、第2の対称軸と、第3の対称軸とを有し、前記第1、第2及び第3の対称軸は、互いに直交して配置される、球状ステータと、
前記球状ステータに前記第1の対称軸を中心に巻回される第1のコイルと、
前記球状ステータに前記第2の対称軸を中心に巻回される第2のコイルと、
前記球状ステータから離間され、前記球状ステータの少なくとも一部を包囲する電動子であって、内側面を有し、前記球状ステータに対して移動可能な電動子と、
前記電動子の前記内側面に結合され、前記電動子の内側面から延在する複数の磁石であって、各々の前記磁石は前記球状ステータから離間されている、複数の磁石と
を備え、
前記電動子は、
前記第1のコイルに第1の交流電流が通電され、
前記第2のコイルに第2の交流電流が通電され、
前記第1及び第2の交流電流の振幅が等しく、位相が180度ずれているときに、
前記第3の対称軸の周りを継続的に回転する、多自由度球面アクチュエータ。 - 前記球状ステータに前記第3の対称軸を中心に巻回される第3のコイルを更に備え、
前記電動子は、前記第3のコイルに第3の交流電流が通電されたときに、前記第1の対称軸又は前記第2の対称軸の一方の周りを回転し、
前記電動子は、前記第1及び第3の交流電流が同相であるときに前記第1の対称軸の周りを回転し、
前記電動子は、前記第2及び第3の交流電流が同相であるときに前記第2の対称軸の周りを回転する、請求項1に記載のアクチュエータ。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/792,799 | 2015-07-07 | ||
US14/792,799 US9893574B2 (en) | 2015-07-07 | 2015-07-07 | Multi-degree of freedom spherical actuator |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2017022976A JP2017022976A (ja) | 2017-01-26 |
JP6881901B2 true JP6881901B2 (ja) | 2021-06-02 |
Family
ID=56137216
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016131241A Active JP6881901B2 (ja) | 2015-07-07 | 2016-07-01 | 多自由度球面アクチュエータ |
Country Status (5)
Country | Link |
---|---|
US (1) | US9893574B2 (ja) |
EP (1) | EP3116111B1 (ja) |
JP (1) | JP6881901B2 (ja) |
CN (1) | CN106341023B (ja) |
CA (1) | CA2933758A1 (ja) |
Families Citing this family (24)
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CN109764221B (zh) * | 2017-08-31 | 2021-04-27 | 北京影谱科技股份有限公司 | 一种云台 |
CN107843280B (zh) * | 2017-11-28 | 2024-03-22 | 哈尔滨理工大学 | 一种旋转式球形磁电编码器的标定装置 |
US11268829B2 (en) * | 2018-04-23 | 2022-03-08 | Corephotonics Ltd | Optical-path folding-element with an extended two degree of freedom rotation range |
US10374483B1 (en) | 2018-07-16 | 2019-08-06 | Honeywell International Inc. | Three-axis gimbal assembly with a spherical motor |
US11050308B2 (en) | 2018-07-16 | 2021-06-29 | Honeywell International Inc. | Electromagnetic machine including a spherical stator having winding-assistance protruberances formed thereon |
US11336162B2 (en) | 2019-01-10 | 2022-05-17 | Honeywell International Inc. | Spherical brushless direct current machine |
US11602781B2 (en) | 2019-01-10 | 2023-03-14 | Honeywell International Inc. | Spherical coil winding machine |
CN111181336B (zh) * | 2019-01-16 | 2020-12-18 | 北京航空航天大学 | 三自由度永磁球面运动发生器 |
KR20200092120A (ko) * | 2019-01-24 | 2020-08-03 | 삼성전자주식회사 | 구형 구조체를 포함하는 전자 장치 |
US11070122B2 (en) | 2019-02-22 | 2021-07-20 | Honeywell International Inc. | Multi-degree-of-freedom electromagnetic machine |
US10720826B1 (en) | 2019-03-04 | 2020-07-21 | Honeywell International Inc. | Two degree-of-freedom actuator |
US11009892B2 (en) | 2019-03-19 | 2021-05-18 | Honeywell International Inc. | Active human-machine user interface feedback system with spherical motor |
CN110010324B (zh) * | 2019-04-02 | 2023-08-22 | 南京理工大学 | 一种双电磁铁并联锁定装置及其工作方法 |
KR20200117552A (ko) * | 2019-04-04 | 2020-10-14 | 삼성전자주식회사 | 링 부재를 포함하는 구형 로봇 |
US10951105B2 (en) * | 2019-04-11 | 2021-03-16 | Honeywell International Inc. | Geared spherical electromagnetic machine with two-axis rotation |
US10819183B1 (en) * | 2019-05-07 | 2020-10-27 | Honeywell International Inc. | Spherical voice coil based resolver system |
CN110434897B (zh) * | 2019-06-12 | 2021-01-01 | 北京航空航天大学 | 一种基于二自由度电磁驱动旋转机构的紧凑型仿生眼装置 |
US11108287B2 (en) | 2019-07-05 | 2021-08-31 | Honeywell International Inc. | Spherical electromagnetic machine with two degrees of unconstrained rotational freedom |
CN110649730B (zh) * | 2019-09-30 | 2020-06-30 | 河北科技大学 | 混合驱动式多自由度电机 |
US11355977B2 (en) | 2019-12-12 | 2022-06-07 | Honeywell International Inc. | Multi-degree-of-freedom electromagnetic machine with Halbach array |
US11581761B2 (en) * | 2020-01-31 | 2023-02-14 | Honeywell International Inc. | Two degree-of-freedom spherical brushless DC motor |
US11394266B2 (en) * | 2020-02-05 | 2022-07-19 | Honeywell International Inc. | Two degree-of-freedom electromagnetic machine |
EP3984890A1 (en) * | 2020-10-16 | 2022-04-20 | Honeywell International Inc. | Spherical motor-based searchlight system |
US11313531B1 (en) * | 2020-10-16 | 2022-04-26 | Honeywell International Inc. | Vehicle searchlight system with light source coupled to spherical motor |
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-
2015
- 2015-07-07 US US14/792,799 patent/US9893574B2/en active Active
-
2016
- 2016-06-17 EP EP16175141.7A patent/EP3116111B1/en active Active
- 2016-06-20 CA CA2933758A patent/CA2933758A1/en not_active Abandoned
- 2016-07-01 JP JP2016131241A patent/JP6881901B2/ja active Active
- 2016-07-06 CN CN201610525130.6A patent/CN106341023B/zh not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
EP3116111A1 (en) | 2017-01-11 |
CN106341023B (zh) | 2020-03-06 |
US9893574B2 (en) | 2018-02-13 |
US20170012482A1 (en) | 2017-01-12 |
JP2017022976A (ja) | 2017-01-26 |
CN106341023A (zh) | 2017-01-18 |
CA2933758A1 (en) | 2017-01-07 |
EP3116111B1 (en) | 2020-01-29 |
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