US20010028360A1 - Actuation device having multiple degrees of freedom of movement and reduced inertia - Google Patents
Actuation device having multiple degrees of freedom of movement and reduced inertia Download PDFInfo
- Publication number
- US20010028360A1 US20010028360A1 US09/770,973 US77097301A US2001028360A1 US 20010028360 A1 US20010028360 A1 US 20010028360A1 US 77097301 A US77097301 A US 77097301A US 2001028360 A1 US2001028360 A1 US 2001028360A1
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- pivoting
- rotation
- linkage
- secured
- linkages
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Classifications
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- 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
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/20—Input arrangements for video game devices
- A63F13/24—Constructional details thereof, e.g. game controllers with detachable joystick handles
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/25—Output arrangements for video game devices
- A63F13/28—Output arrangements for video game devices responding to control signals received from the game device for affecting ambient conditions, e.g. for vibrating players' seats, activating scent dispensers or affecting temperature or light
- A63F13/285—Generating tactile feedback signals via the game input device, e.g. force feedback
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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- 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
- H02K21/26—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with rotating armatures and stationary magnets
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K26/00—Machines adapted to function as torque motors, i.e. to exert a torque when stalled
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/106—Structural association with clutches, brakes, gears, pulleys or mechanical starters with dynamo-electric brakes
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F2300/00—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game
- A63F2300/10—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by input arrangements for converting player-generated signals into game device control signals
- A63F2300/1037—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by input arrangements for converting player-generated signals into game device control signals being specially adapted for converting control signals received from the game device into a haptic signal, e.g. using force feedback
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F2300/00—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game
- A63F2300/10—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by input arrangements for converting player-generated signals into game device control signals
- A63F2300/1043—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by input arrangements for converting player-generated signals into game device control signals being characterized by constructional details
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F9/00—Games not otherwise provided for
- A63F9/24—Electric games; Games using electronic circuits not otherwise provided for
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/01—Indexing scheme relating to G06F3/01
- G06F2203/015—Force feedback applied to a joystick
Definitions
- This invention relates to an actuation device of the kind used for interactive games.
- Actuation devices are often used in, for example, interactive games. Forces are imparted to a hand of a person by a handle held in the hand of the person. The degrees of freedom of movement of such a handle are usually relatively limited.
- Such a device usually includes relatively heavy motors which move together with the linkage mechanism of the device, resulting in large amounts of inertia.
- the motors used on such devices are also usually of the kind that exerts relatively small forces, so as to prevent injury to the person.
- an actuation device which includes a support frame first, second, third, and fourth linkages, a user interface component, and a first rotation actuator.
- Each linkage has first and second spaced apart portions.
- the first portions of the first and second linkages are secured to the support frame for pivotal movement about first and second spaced apart axes, respectively, and for rotational movement about a common first rotation axis transverse to the first and second pivot axes.
- the first portions of the third and fourth linkages are secured to the second portions of the first and second linkages for pivotal movement about third and fourth pivot axes, respectively.
- the second portions of the third and fourth linkages are secured to one another for pivotal movement about a fifth pivot axis.
- the user interface component is secured to the second portion of one of the third linkage and the fourth linkage.
- the user interface component has a surface shaped for contact by a body part of a person.
- the rotation actuator has a first rotation actuator body and a first rotation actuating component secured to the first rotation actuator body and is actuable to move relative to the first rotation actuator body.
- the first rotation actuator is connected between the frame and the first linkage such that movement of the first rotation actuating component causes rotation of the first, second, third and fourth linkages about the first rotation axis.
- an actuation device which includes a support frame, first, second, third, and fourth linkages, a user interface component, and a first pivoting actuator.
- Each linkage has first and second spaced apart portions.
- the first portions of the first and second linkages are secured to the support frame for pivotal movement about first and second pivot axes, respectively.
- the third and fourth linkages are secured to the second portions of the first and second linkages for pivotal movement about third and fourth pivot axes, respectively.
- the second portions of the third and fourth linkages are secured to one another for pivotal movement about a fifth pivot axis.
- the user interface component is secured to the second portion of one of the third linkage of the fourth linkage.
- the user interface component has a surface shaped for contact by a body part of a person.
- the first pivoting actuator has a first pivoting actuator body and a first pivoting actuating component secured to the first pivoting actuator body.
- the first pivoting actuating component has lower mass than the first pivoting actuator body.
- the first pivoting actuating component is actuable to move relative to the first pivoting actuator body.
- the first pivoting actuator body is secured to the frame and the first pivoting actuating component is secured to the first linkage such that movement of the first pivoting actuating component causes pivoting of the first linkage about the first pivot axis.
- an actuation device which includes a support frame, a linkage mechanism, a user interface component, an actuator, and a braking device.
- the linkage mechanism is secured to the support frame.
- the user interface component is secured to the linkage mechanism and has a surface shaped for contact by a body part of a person.
- the linkage mechanism allows for movement of the user interface component in at least one direction relative to the frame.
- the actuator has an actuating component secured to the actuator body.
- the actuating component is actuable to move relative to the actuator body.
- the actuator is connected between two components of the frame and linkage mechanism such that movement of the actuating component causes movement of the linkage mechanism so as to move the user interface device.
- the braking device has a braking device body and a braking component secured to the braking device body.
- the braking component is moveable relative to the braking device body. Movement of the braking component is controllable so as to vary a resistance to be overcome to move the braking component relative to the braking device body.
- the braking device is connected between two components of the frame and the linkage mechanism such that an increase of the resistance brakes the movement of the linkage mechanism imparted by the actuation device.
- an electric motor comprising a housing, a plurality of stator magnets, first and second actuator components, a link, and first and second electrical conductors.
- the actuator motors are secured to the housing and are located in at least two row arrangements. For each row arrangement odd magnets have north on a first side and south on a second side and even magnets have south on the first side and north on the second side.
- the arrangements have magnetic field lines forming in one direction across a first actuator gap from each odd magnet of the first arrangement to each odd magnet of the second arrangement and across a second actuator gap from each odd magnet of the second arrangement back to each odd magnet of the first arrangement, and in an opposing direction across the second actuator gap from each even magnet of the first arrangement to each even magnet of the second arrangement and across the first actuator gap from each even magnet of the second arrangement back to each even magnet of the first arrangement.
- the first and second actuator components are located in the first and second actuator gaps respectively.
- the link secures the actuator components to one another to form an actuator which is mounted to the housing for movement relative to the housing.
- the first and second electrical conductors are secured to the first and second actuator component respectively.
- the first conductor has a section located in the first actuator gap and extending transverse to the magnetic field lines so that a current therein causes movement thereof relative to the housing.
- the second conductor has a section located in the second actuator gap and extending transverse to the magnetic field lines so that a current therein causes movement thereof relative to the housing.
- FIG. 1 is a front view of a subsystem of an actuation device according to an embodiment of the invention
- FIG. 2 is a front view of the actuation device
- FIG. 3 is a cross-sectional side view of one motor and one brake of the actuation device
- FIG. 4 is a perspective view of stator magnets and one rotor component of the motor shown in FIG. 3;
- FIG. 5 is a front view of the rotor component, illustrating one conductor thereon in more detail
- FIG. 6 is a front view of the rotor component illustrating sections of three conductors, each carrying a separate phase of current, uniformly spaced thereon;
- FIG. 7 is a block diagram illustrating components to commutate current to the conductors.
- FIG. 1 of the accompanying drawings illustrates a first subsystem 10 A of an actuation device, suitable for us in interactive games, according to an embodiment of the invention.
- the subsystem 10 A includes a support frame 12 , a first universal joint 14 A, a second universal joint 14 B, a first linkage 16 A, a second linkage 16 B, a first pivoting actuator motor 18 A, a second pivoting actuator motor 18 B, a first pivoting brake 20 A, a second pivoting brake 20 B, a first rotation bracket 22 A, a second rotation bracket 22 B, a first rotation actuator motor 24 A, and a first rotation brake 26 A.
- the first pivoting actuator motor 18 A has a first pivoting actuator body 30 A, and a first pivoting actuating spindle 32 A.
- the spindle 32 A is rotatable relative to the body 30 A and has lower mass than the body 30 A.
- the first pivoting brake 20 A includes a first pivoting brake body 34 A and a first pivoting brake shaft 36 A.
- the shaft 36 A extends through the body 34 A and is rotatable relative to the body 34 A.
- the shaft 36 A has lower mass than the body 34 A.
- the body 34 A is mounted to a portion of the frame 12 and the body 30 A is mounted to the body 34 A.
- the spindle 32 A is coupled to the shaft 36 A.
- An opposing end of the shaft 36 A extends through an opening in the frame 12 and is coupled to a first portion 38 of the first universal joint 14 A.
- a second portion 40 of the universal joint 14 A is secured to the first portion 38 .
- the second portion 40 can rotate relative to the first portion 38 about a rotation axis 42 and about an axis normal to the paper and intersecting the rotation axis 42 .
- a pin 46 is mounted to a lower surface of the second portion 40 and a first portion 48 of the first linkage 16 A is secured to the pin 46 .
- the spindle 32 A, the shaft 36 A, the first and second portions 38 and 40 , the pin 46 , and the first linkage 16 A all pivot about a vertical first pivot axis 50 A.
- the second portion 40 together with the pin 46 and the first linkage 16 A can also rotate relative to the frame 12 about the rotation axis 42 . Such rotation results in a bend in the first pivot axis 50 A at the rotation axis 42 .
- a lower portion of the first pivot axis 50 A then extends at an angle relative to an upper portion of the first pivot axis 50 A.
- an orientation of the lower portion of the pivot axis 50 A can be maintained even when the first linkage 16 A is pivoted about the lower portion of the first pivot axis 50 A.
- the second pivoting actuator motor 18 B, the second pivoting brake 20 B, the second universal joint 14 B, and the second linkage 16 B have a similar construction.
- the motor 18 B and the brake 20 B are mounted to the frame 12 and the universal joint 14 B and the second linkage 16 B are rotated together with a spindle of the motor 18 B and a shaft of the 20 B about a second pivot axis 50 B.
- the pivot axes 50 A and 50 B extend vertically and are spaced from one another.
- the universal joint 14 B also allows for rotation of a second portion 40 of the universal joint 14 B relative to a first portion 38 thereof about the rotation axis 42 .
- the second linkage 16 B rotates together with the second portion of the universal joint 14 B about the rotation axis 42 .
- Such rotation of the linkage 16 B results in a bend of the second pivot axis 50 B at the rotation axis 42 .
- An orientation of an upper portion of the second pivot axis 50 B can be maintained relative to an orientation of a lower portion of the second pivot axis 50 B even when the second linkage 16 B is pivoted about the upper portion of the second pivot axis 50 B.
- the brackets 22 A and 22 B are mounted to the frame 12 and are rotatable about the pivot axis 42 .
- the bracket 22 A is connected to the pin 46 so that, upon rotation of the bracket 22 A, the pin 46 is rotated about the rotation axis 42 . Rotation of the bracket 22 A thereby causes rotation of the first linkage 16 A about the rotation axis 42 .
- the pin 46 fits in a bearing in the bracket 22 A so that the bracket 22 A does not interfere with pivoting of the pin 46 about the first pivot axis 50 A.
- bracket 22 B is connected through a pin to the second portion 40 of the universal joint 14 B and the second linkage 16 B. Rotation of the bracket 22 B causes rotation of the second linkage 16 B about the rotation axis 42 . The bracket 22 B does not interfere with pivoting of the linkage 16 B about the second pivot axis 50 B.
- the brackets 22 A and 22 B are connected to one another through a connection pin 52 . Because of the connection between the brackets 22 A and 22 B, the brackets 22 A and 22 B rotate in unison about the rotation axis 42 .
- the first rotation actuator motor includes a first rotation actuator motor body 54 A and a first rotation actuating spindle 56 A.
- the first rotation brake 26 A includes a first rotation brake body 58 A and a first rotation brake shaft 60 A.
- the body 58 A is mounted to the frame 12 .
- the body 54 A is mounted to the body 58 A and the spindle 56 A is coupled to the shaft 60 A.
- An opposing end of the shaft 60 A is connected to the bracket 12 A.
- the shafts 56 A and 60 A rotate about the rotation axis 42 .
- the motor 24 A is the same as the motor 18 A and the motor 26 A is the same as the motor 20 A.
- the motor 18 A can be operated to rotate the spindle 32 A, thereby rotating the first linkage 16 A about the first pivot axis 50 A.
- the brake 20 A can be operated to brake the shaft 36 A, thereby braking pivoting movement of the first shaft 16 A about the pivot axis 50 A.
- the motor 18 B can be used to pivot the second linkage 16 B independently of the first linkage 16 A about the second pivot axis 50 B and the brake 20 B can be used to brake pivoting movement of the second shaft 16 B about the second pivot axis 50 B.
- the motor 54 A can be operated to rotate the spindle 56 A, thereby rotating the shaft 60 A and the brackets 22 A and 22 B about the rotation axis 42 .
- Rotation of the brackets 22 A and 22 B causes rotation of the linkages 16 A and 16 B in unison about the rotation axis 42 .
- the motor can be of the kind that creates relatively small forces on the handle 100 . Damage to a user can thereby be prevented. Nevertheless, the brake can be of the kind that can create relatively large braking forces without any danger of injury to the person. A motor that can generate such large braking forces would be relatively large and also create relatively large actuation forces which could injure a person. Because the brake can only oppose movement applied by a user for system feedback, and does not create movement itself, there is a much lower chance of injury even when using a very powerful brake.
- FIG. 2 illustrates an actuation device 70 according to an embodiment of the invention, including the first subsystem 10 A shown in FIG. 1 and a second subsystem 10 B.
- the subsystems 10 A and 10 B utilize a common support frame 12 .
- the subsystem 10 B as shown in FIG. 2, is a mirror image of the subsystem 10 A.
- each linkage 16 A to D includes a respective first portion 48 and a respective second portion 72 spaced from the first portion 48 thereof.
- the first portion 48 of the third linkage 16 C is pivotally connected to the second portion 72 of the first linkage 16 A.
- the linkage 16 C can pivot relative to the linkage 16 A about a third pivot axis 50 C.
- the first portion 48 of the fourth linkage 16 D is pivotally secured to the second portion 72 of the second linkage 16 B.
- the linkage 16 B can pivot relative to the linkage 16 B about a fourth vertical pivot axis 50 D.
- the second portions 72 of the third and fourth linkages 16 C and 16 D are pivotally secured to one another.
- the third and fourth linkages can pivot relative to one another about a fifth vertical pivot axis.
- clockwise rotation of the first and second linkages 16 A and 16 B causes movement of the second portion of the third linkage 16 C in a direction 76 .
- Counterclockwise rotation of the first linkage 16 A and clockwise rotation of the second linkage 16 B causes movement of the second portion 72 of the third linkage 16 C out of the paper.
- counterclockwise rotation of the first and second linkages 16 A and 16 B causes movement of the second portions 72 of the third linkage 16 C in an upward direction 78 .
- the second portion 72 of the third linkage 16 C can thus be moved in three dimensions.
- the second subsystem 10 B is a mirror image of the first subsystem 10 A and includes a third universal joint 14 C, a fourth universal joint 14 D, first, second, third, and fourth linkages 16 E, 16 F, 16 G, and 16 H respectively, third and fourth pivoting actuator motors 18 C and 18 D respectively, third and fourth pivoting brakes 20 C and 20 D respectively, third and fourth rotation brackets 22 C and 22 D respectively, a second rotation actuator motor 24 B, a second rotation brake 26 B, all assembled in a manner similar to the components of the first subsystem 10 A.
- the second subsystem 10 B is also operable to move a second portion 72 of the seventh linkage 16 G in three dimensions.
- a handle 100 is pivotally secured to extensions of the second portions of the third and seventh linkages 16 C and 16 G.
- the handle 100 can pivot relative to the third linkage 16 C in all directions, i.e. upward and downward as well as into and out of the paper.
- the handle 100 can also pivot relative to the seventh linkage 16 G in a similar manner, i.e. upward and downward and into and out of the paper.
- the handle 100 can be moved in three dimensions.
- the handle can be rotated about a vertical axis or an axis normal to the paper. Any combination of these movements is also possible.
- the handle 100 has an outer surface which is shaped to be held in a hand of a person. Forces and movement of the handle 100 can be transferred to a hand of the person. The person can also move the handle, thereby rotating the spindles and shafts of the subsystems 10 A and 10 B, so providing system feedback.
- FIG. 3 is a cross-sectional side view illustrating the motor 24 A and the brake 26 A.
- the motor 24 A and the brake 26 A are shown by way of example. All the motors in FIG. 2 are the same and all the brakes in FIG. 2 are the same, although this is not a requirement of the invention.
- the motor 24 A includes a housing 102 , a plurality of stator magnets 104 , a magnet support 106 , and a rotor 108 .
- the housing 102 includes a magnetically conductive core 110 and first and second magnetically conductive end portions 112 and 114 respectively.
- the core 110 has a longitudinal axis 116 .
- the magnet support 106 is made of a non-magnetic material such as aluminum or plastic.
- the magnet support 106 has a circular outer surface 118 , and an opening therethrough through which the core 110 is inserted.
- the magnets 104 are secured to the surface 118 .
- the first and second end portions 102 are secured to opposing sides of the core 110 .
- Each end portion 112 or 114 has a central axis coinciding with the axis 116 .
- Each end portion 112 or 114 has a diameter which is larger than the outside of magnet support 106 so that outer edges thereof extend radially outwardly past the magnets 104 .
- the magnets 104 are located in a plurality of circular arrangements 120 A, 120 B, and 120 C.
- Each circular arrangement 120 A, 120 B, or 120 C has a circular row of the magnets.
- every odd magnet 104 A has north on a first side and south on a second, axially opposing side thereof. Every even magnet has south on the first side and north on the second side.
- the second arrangement 120 B is axially spaced from the first arrangement 120 A and the third arrangement 120 C is axially spaced from the second arrangement 120 B.
- a first rotor gap 122 A is defined between the first arrangement 120 A and the second arrangement 120 B.
- a second rotor gap 122 B is defined between the second arrangement 120 B and the third arrangement 120 C.
- the arrangements, 120 A, 120 B, and 120 C are aligned with one another such that magnetic fields lines 124 are formed in one direction from a south side of odd magnets of the first arrangement 120 A to a north side of odd magnets of the second arrangement 120 B, and from a south side of odd magnets of the second arrangement 120 B to a north side of odd magnets of the third arrangement 120 C.
- Magnetic field lines 126 form in a opposite direction from a south side of even magnets of the third arrangement 120 C to a north side of even magnets of the second arrangement 120 B, and from a south side of even magnets of the second arrangement 120 B to a north side of even magnets of the first arrangement 120 B.
- a respective field line 124 or 126 is formed across a respective one of the rotor gaps 122 A or 122 B.
- the magnets 104 are electromagnets. Each magnet includes a coil through which a current can be provided to magnetize the coil. A magnetic field is created having magnetic field lines sequentially through the arrangements 120 A, B, C, D and E, whereafter the magnetic field lines return through the second portion 114 , the core 110 , and the first portion 112 to the magnets of the first arrangement 120 A.
- the rotor 108 includes a plurality of rotor components 130 , a link 132 , and an arm 134 .
- Each rotor component 130 is a planar member which in the preferred embodiment is made from a printed circuit board for low cost.
- the rotor component 130 has a central opening 138 which is located over the outer surface 118 of the attenuator 106 .
- Each rotor component 130 is located within a respective rotor gap 122 .
- a portion of each rotor component 130 also extends out of the respective rotor gap 122 and is located externally of the magnets 104 .
- the link 132 is inserted through openings in the portions of the rotor components 130 located externally of the magnets 104 .
- the rotor components 130 are thereby mounted to one another.
- a pin 140 is secured to the second portion 114 of the housing 102 .
- a ball bearing 142 is located on an outer surface of the pin 140 .
- a lower end of the arm 142 has a recess 144 therein located over the ball bearing 142 .
- the arm is thereby mounted to the pin 142 for rotation about the axis 116 .
- the link 132 is secured to an upper end of the arm 134 . All the components of the rotor 108 are thereby mounted to the housing 102 for rotation about the axis 116 .
- the link 132 is located externally to and rotates about the magnets 104 .
- FIG. 4 shows one of the rotor components 130 .
- a respective electrical conductor 140 A is formed on each rotor component 130 .
- the conductor 140 A is made of copper and has two terminals 141 A and 141 B over which a voltage can be applied so that a current flows therethrough.
- the conductor could also be made of aluminum so as to decrease the rotational inertia of rotor 130 , although aluminum has a substantially higher resistance than copper and would require additional power.
- the conductor 140 A includes a plurality of sections 142 .
- the sections 142 include odd sections 142 A alternated by even sections 142 B located in series.
- the current can be reversed when the odd sections 142 A are located in the magnetic field lines 126 and the even sections 142 B are located in the magnetic field lines 124 . As such, rotation in the direction 146 will be maintained. The current is again reversed when the odd sections 142 A are located in the magnetic field lines 124 , and so on.
- An advantage of the motor 24 A is that there is no “cogging” torque (the steps that one feels when rotating a spindle) because there is no steel or similar ferrous material in the rotor components 130 that may tend to line up with magnets. A user, when providing system feedback, will accordingly, not feel any cogging of the rotor components 130 . Since the rotor components 130 are nonmagnetic, it has the disadvantage that magnetic fields lose substantial strength traveling through them just as if they were traveling through air. However, this disadvantage is overcome by making the rotor components 130 thin and making the rotor gaps 122 very small. An additional advantage of the thin rotor components 130 is a low rotational inertia.
- Another advantage is that more torque can be generated for its size because the magnetic field is continually reused by passing it through multiple rotors, thereby multiplying the torque generated by a single rotor.
- the magnetic return path created by housing 102 , housing 114 , and core 110 is shared by all of the rotors, instead of each rotor using a separate return path.
- FIG. 5 now illustrates the first conductor 140 A in more detail.
- the conductor 140 A has a plurality of turns 144 A, 144 B, and 144 C in series about the axis 116 .
- Each turn has a plurality of odd sections 142 A initially carrying current radially outward while a plurality of even sections 142 B carry current radially inward. All the odd sections 142 A are initially located in the odd magnetic field lines 124 while all the even sections 142 B are located in the even magnetic field lines 126 .
- the odd magnetic field lines 124 there are eight magnetic fields represented by the odd magnetic field lines 124 and eight magnetic fields represented by the even magnetic field lines 126 .
- the odd sections 142 A of successive turns 144 A, 144 B, and 144 C located in the same magnetic field are angularly spaced from one another. Because of angular spacing of the sections, a thinner rotor component 130 is provided than would be the case should the sections be axially spaced. A thinner rotor component 130 contributes greatly to propagation of magnetic field, especially in the absence of a magnetic material such as steel.
- FIG. 6 illustrates the sections 142 A and 142 B of the first conductor 140 A and further illustrates sections 142 A and 142 B of two more first conductors 140 B and 140 C secured to the rotor component 130 .
- Each conductor 140 A, 140 B, and 140 C is distinct from the other and has a respective terminal to which, in use, a separate phase of power is applied.
- Odd sections 142 A of all the conductors 140 A, 140 B, and 140 C are located in the magnetic fields represented by the odd magnetic field lines 124 .
- the odd sections of the conductor 140 B located in the same magnetic field as odd sections of the conductor 140 A are angularly spaced from the odd sections of the conductor 140 A.
- FIG. 7 illustrates components used to commutate power supplied to the conductors 140 of the motor 24 A.
- the components include an angle sensor 300 , a controller 302 , a power supply 304 , and three variable switches 306 .
- the power supply 304 supplies a voltage to all the variable switches 306 .
- Each switch 306 is independently controlled by the controller 302 .
- the angle sensor 300 detects an angular position of the rotor 108 and provides a signal indicative of the angular position to the controller 302 .
- the controller 302 switches each switched sixteen times (equivalent to the number of magnetic fields or the number of magnets 104 in an arrangement 120 ) during one revolution of the rotor.
- Each switch 306 is controlled so as to provide a sinusoidal voltage to the respective conductors 140 A, 140 B, or 140 C forty-eight times during a revolution of the rotor 108 .
- the brake 26 A shown in FIG. 3 is a hysteresis brake that includes a housing 150 , a plurality of electromagnets 152 , the shaft 36 A, and a rotor 154 .
- the rotor 154 has a plurality of magnets (not shown) located in a circular arrangement thereon.
- Electric conductors 156 and 158 are connected to coils of the electromagnets 152 .
- Each electric conductor 156 and 158 is connected to a respective terminal 160 and 162 .
- a voltage can be applied over the terminals 160 and 162 so that a current flows in a respective one of the coils of the electromagnets 152 .
- the electromagnets 152 are thereby magnetized.
- the voltage over the terminals 160 and 162 can be varied so as to vary the strength of magnetization of the electromagnets 152 .
- the rotor 154 is secured to the shaft 46 A and can rotate freely when the electromagnets 152 are not magnetized. There is then no torque which prevents rotation of the rotor 154 .
- An increase in magnetization of the electromagnets 152 creates a resistance which resists rotation of the rotor 154 .
- the spindle 32 A is formed on the arm 34 of the motor 24 A and the spindle 32 A is connected to the shaft 36 A. Any movement imparted on the shaft 36 A by the motor 24 A can be braked by applying a voltage over the terminals 160 and 162 .
- the braking torque can be varied by varying the voltage over the terminals 160 and 162 .
- the rotor 108 includes a plurality of planar rotor components 130 .
- Another embodiment may have a planar disk rotor including an outer disk rotor component and an inner disk rotor component, the rotor components thus being concentrically located, one within the other.
- Such an arrangement could use magnet arrangements located concentrically within one another.
- Another embodiment could use magnet arrangements located concentrically within one another and being radially polarized.
- a respective cylindrical rotor component could be inserted in a respective rotor gap between a respective outer and a respective inner magnet arrangement.
- the present embodiment also utilized universal joints that have the advantage that they are less expensive to manufacture than, for example, constant-velocity joints. Constant-velocity joints, by contrast, have the advantage that they do not cause the typical 1-3% variation in angular velocity associated with universal joints. However, the change in velocity of the universal joints can be compensated for by a control system controlling the rotation speed of the motors.
- the present invention utilizes electromagnets because of better performance. Permanent magnets could alternatively be used to reduce cost and/or power consumption.
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Abstract
Description
- 1). Field of the Invention
- This invention relates to an actuation device of the kind used for interactive games.
- 2). Discussion of Related Art
- Actuation devices are often used in, for example, interactive games. Forces are imparted to a hand of a person by a handle held in the hand of the person. The degrees of freedom of movement of such a handle are usually relatively limited. Such a device usually includes relatively heavy motors which move together with the linkage mechanism of the device, resulting in large amounts of inertia. The motors used on such devices are also usually of the kind that exerts relatively small forces, so as to prevent injury to the person.
- According to one aspect of the invention an actuation device is provided which includes a support frame first, second, third, and fourth linkages, a user interface component, and a first rotation actuator. Each linkage has first and second spaced apart portions. The first portions of the first and second linkages are secured to the support frame for pivotal movement about first and second spaced apart axes, respectively, and for rotational movement about a common first rotation axis transverse to the first and second pivot axes. The first portions of the third and fourth linkages are secured to the second portions of the first and second linkages for pivotal movement about third and fourth pivot axes, respectively. The second portions of the third and fourth linkages are secured to one another for pivotal movement about a fifth pivot axis. The user interface component is secured to the second portion of one of the third linkage and the fourth linkage. The user interface component has a surface shaped for contact by a body part of a person. The rotation actuator has a first rotation actuator body and a first rotation actuating component secured to the first rotation actuator body and is actuable to move relative to the first rotation actuator body. The first rotation actuator is connected between the frame and the first linkage such that movement of the first rotation actuating component causes rotation of the first, second, third and fourth linkages about the first rotation axis.
- According to another aspect of the invention, an actuation device is provided which includes a support frame, first, second, third, and fourth linkages, a user interface component, and a first pivoting actuator. Each linkage has first and second spaced apart portions. The first portions of the first and second linkages are secured to the support frame for pivotal movement about first and second pivot axes, respectively. The third and fourth linkages are secured to the second portions of the first and second linkages for pivotal movement about third and fourth pivot axes, respectively. The second portions of the third and fourth linkages are secured to one another for pivotal movement about a fifth pivot axis. The user interface component is secured to the second portion of one of the third linkage of the fourth linkage. The user interface component has a surface shaped for contact by a body part of a person. The first pivoting actuator has a first pivoting actuator body and a first pivoting actuating component secured to the first pivoting actuator body. The first pivoting actuating component has lower mass than the first pivoting actuator body. The first pivoting actuating component is actuable to move relative to the first pivoting actuator body. The first pivoting actuator body is secured to the frame and the first pivoting actuating component is secured to the first linkage such that movement of the first pivoting actuating component causes pivoting of the first linkage about the first pivot axis.
- According to a further aspect of the invention an actuation device is provided which includes a support frame, a linkage mechanism, a user interface component, an actuator, and a braking device. The linkage mechanism is secured to the support frame. The user interface component is secured to the linkage mechanism and has a surface shaped for contact by a body part of a person. The linkage mechanism allows for movement of the user interface component in at least one direction relative to the frame. The actuator has an actuating component secured to the actuator body. The actuating component is actuable to move relative to the actuator body. The actuator is connected between two components of the frame and linkage mechanism such that movement of the actuating component causes movement of the linkage mechanism so as to move the user interface device. The braking device has a braking device body and a braking component secured to the braking device body. The braking component is moveable relative to the braking device body. Movement of the braking component is controllable so as to vary a resistance to be overcome to move the braking component relative to the braking device body. The braking device is connected between two components of the frame and the linkage mechanism such that an increase of the resistance brakes the movement of the linkage mechanism imparted by the actuation device.
- According to a further aspect of the invention an electric motor is provided comprising a housing, a plurality of stator magnets, first and second actuator components, a link, and first and second electrical conductors. The actuator motors are secured to the housing and are located in at least two row arrangements. For each row arrangement odd magnets have north on a first side and south on a second side and even magnets have south on the first side and north on the second side. The arrangements have magnetic field lines forming in one direction across a first actuator gap from each odd magnet of the first arrangement to each odd magnet of the second arrangement and across a second actuator gap from each odd magnet of the second arrangement back to each odd magnet of the first arrangement, and in an opposing direction across the second actuator gap from each even magnet of the first arrangement to each even magnet of the second arrangement and across the first actuator gap from each even magnet of the second arrangement back to each even magnet of the first arrangement. The first and second actuator components are located in the first and second actuator gaps respectively. The link secures the actuator components to one another to form an actuator which is mounted to the housing for movement relative to the housing. The first and second electrical conductors are secured to the first and second actuator component respectively. The first conductor has a section located in the first actuator gap and extending transverse to the magnetic field lines so that a current therein causes movement thereof relative to the housing. The second conductor has a section located in the second actuator gap and extending transverse to the magnetic field lines so that a current therein causes movement thereof relative to the housing.
- The invention is further described by way of example with reference to the accompanying drawings wherein:
- FIG. 1 is a front view of a subsystem of an actuation device according to an embodiment of the invention;
- FIG. 2 is a front view of the actuation device;
- FIG. 3 is a cross-sectional side view of one motor and one brake of the actuation device;
- FIG. 4 is a perspective view of stator magnets and one rotor component of the motor shown in FIG. 3;
- FIG. 5 is a front view of the rotor component, illustrating one conductor thereon in more detail;
- FIG. 6 is a front view of the rotor component illustrating sections of three conductors, each carrying a separate phase of current, uniformly spaced thereon; and
- FIG. 7 is a block diagram illustrating components to commutate current to the conductors.
- FIG. 1 of the accompanying drawings illustrates a
first subsystem 10A of an actuation device, suitable for us in interactive games, according to an embodiment of the invention. Thesubsystem 10A includes asupport frame 12, a firstuniversal joint 14A, a seconduniversal joint 14B, afirst linkage 16A, asecond linkage 16B, a firstpivoting actuator motor 18A, a secondpivoting actuator motor 18B, afirst pivoting brake 20A, asecond pivoting brake 20B, afirst rotation bracket 22A, asecond rotation bracket 22B, a firstrotation actuator motor 24A, and afirst rotation brake 26A. - The first pivoting
actuator motor 18A has a first pivotingactuator body 30A, and a first pivoting actuatingspindle 32A. Thespindle 32A is rotatable relative to thebody 30A and has lower mass than thebody 30A. - The
first pivoting brake 20A includes a firstpivoting brake body 34A and a firstpivoting brake shaft 36A. Theshaft 36A extends through thebody 34A and is rotatable relative to thebody 34A. Theshaft 36A has lower mass than thebody 34A. - The
body 34A is mounted to a portion of theframe 12 and thebody 30A is mounted to thebody 34A. Thespindle 32A is coupled to theshaft 36A. - An opposing end of the
shaft 36A extends through an opening in theframe 12 and is coupled to afirst portion 38 of the first universal joint 14A. Asecond portion 40 of theuniversal joint 14A is secured to thefirst portion 38. Thesecond portion 40 can rotate relative to thefirst portion 38 about arotation axis 42 and about an axis normal to the paper and intersecting therotation axis 42. - A
pin 46 is mounted to a lower surface of thesecond portion 40 and afirst portion 48 of thefirst linkage 16A is secured to thepin 46. Thespindle 32A, theshaft 36A, the first andsecond portions pin 46, and thefirst linkage 16A all pivot about a verticalfirst pivot axis 50A. Thesecond portion 40 together with thepin 46 and thefirst linkage 16A can also rotate relative to theframe 12 about therotation axis 42. Such rotation results in a bend in thefirst pivot axis 50A at therotation axis 42. As such, a lower portion of thefirst pivot axis 50A then extends at an angle relative to an upper portion of thefirst pivot axis 50A. As will be understood in the functioning of a universal joint, an orientation of the lower portion of thepivot axis 50A can be maintained even when thefirst linkage 16A is pivoted about the lower portion of thefirst pivot axis 50A. - The second
pivoting actuator motor 18B, thesecond pivoting brake 20B, the second universal joint 14B, and thesecond linkage 16B have a similar construction. Themotor 18B and thebrake 20B are mounted to theframe 12 and theuniversal joint 14B and thesecond linkage 16B are rotated together with a spindle of themotor 18B and a shaft of the 20B about asecond pivot axis 50B. The pivot axes 50A and 50B extend vertically and are spaced from one another. The universal joint 14B also allows for rotation of asecond portion 40 of the universal joint 14B relative to afirst portion 38 thereof about therotation axis 42. Thesecond linkage 16B rotates together with the second portion of the universal joint 14B about therotation axis 42. Such rotation of thelinkage 16B results in a bend of thesecond pivot axis 50B at therotation axis 42. An orientation of an upper portion of thesecond pivot axis 50B can be maintained relative to an orientation of a lower portion of thesecond pivot axis 50B even when thesecond linkage 16B is pivoted about the upper portion of thesecond pivot axis 50B. - The
brackets frame 12 and are rotatable about thepivot axis 42. Thebracket 22A is connected to thepin 46 so that, upon rotation of thebracket 22A, thepin 46 is rotated about therotation axis 42. Rotation of thebracket 22A thereby causes rotation of thefirst linkage 16A about therotation axis 42. Thepin 46 fits in a bearing in thebracket 22A so that thebracket 22A does not interfere with pivoting of thepin 46 about thefirst pivot axis 50A. - Similarly, the
bracket 22B is connected through a pin to thesecond portion 40 of theuniversal joint 14B and thesecond linkage 16B. Rotation of thebracket 22B causes rotation of thesecond linkage 16B about therotation axis 42. Thebracket 22B does not interfere with pivoting of thelinkage 16B about thesecond pivot axis 50B. - The
brackets connection pin 52. Because of the connection between thebrackets brackets rotation axis 42. - The first rotation actuator motor includes a first rotation
actuator motor body 54A and a firstrotation actuating spindle 56A. Thefirst rotation brake 26A includes a firstrotation brake body 58A and a firstrotation brake shaft 60A. Thebody 58A is mounted to theframe 12. Thebody 54A is mounted to thebody 58A and thespindle 56A is coupled to theshaft 60A. An opposing end of theshaft 60A is connected to the bracket 12A. Theshafts rotation axis 42. Themotor 24A is the same as themotor 18A and themotor 26A is the same as themotor 20A. - In use, the
motor 18A can be operated to rotate thespindle 32A, thereby rotating thefirst linkage 16A about thefirst pivot axis 50A. Thebrake 20A can be operated to brake theshaft 36A, thereby braking pivoting movement of thefirst shaft 16A about thepivot axis 50A. - Similarly, the
motor 18B can be used to pivot thesecond linkage 16B independently of thefirst linkage 16A about thesecond pivot axis 50B and thebrake 20B can be used to brake pivoting movement of thesecond shaft 16B about thesecond pivot axis 50B. - Furthermore, the
motor 54A can be operated to rotate thespindle 56A, thereby rotating theshaft 60A and thebrackets rotation axis 42. Rotation of thebrackets linkages rotation axis 42. - Note that the relatively
heavy body 30A remains stationary and only the spindle, having a lower mass, is rotated, thereby minimizing rotational inertia. Similarly, the relatively massive bodies of themotors brakes - Because a respective brake is used in combination with a respective motor, the motor can be of the kind that creates relatively small forces on the
handle 100. Injury to a user can thereby be prevented. Nevertheless, the brake can be of the kind that can create relatively large braking forces without any danger of injury to the person. A motor that can generate such large braking forces would be relatively large and also create relatively large actuation forces which could injure a person. Because the brake can only oppose movement applied by a user for system feedback, and does not create movement itself, there is a much lower chance of injury even when using a very powerful brake. - FIG. 2 illustrates an
actuation device 70 according to an embodiment of the invention, including thefirst subsystem 10A shown in FIG. 1 and asecond subsystem 10B. Thesubsystems common support frame 12. Thesubsystem 10B, as shown in FIG. 2, is a mirror image of thesubsystem 10A. - Referring firstly to the
first subsystem 10A, it further includes athird linkage 16C and afourth linkage 16D. Eachlinkage 16A to D includes a respectivefirst portion 48 and a respectivesecond portion 72 spaced from thefirst portion 48 thereof. Thefirst portion 48 of thethird linkage 16C is pivotally connected to thesecond portion 72 of thefirst linkage 16A. Thelinkage 16C can pivot relative to thelinkage 16A about athird pivot axis 50C. Thefirst portion 48 of thefourth linkage 16D is pivotally secured to thesecond portion 72 of thesecond linkage 16B. Thelinkage 16B can pivot relative to thelinkage 16B about a fourthvertical pivot axis 50D. Thesecond portions 72 of the third andfourth linkages - In use, when viewed from above, clockwise rotation of the first and
second linkages third linkage 16C in adirection 76. Counterclockwise rotation of thefirst linkage 16A and clockwise rotation of thesecond linkage 16B causes movement of thesecond portion 72 of thethird linkage 16C out of the paper. When viewed from the left, counterclockwise rotation of the first andsecond linkages second portions 72 of thethird linkage 16C in an upward direction 78. Thesecond portion 72 of thethird linkage 16C can thus be moved in three dimensions. - The
second subsystem 10B is a mirror image of thefirst subsystem 10A and includes a third universal joint 14C, a fourth universal joint 14D, first, second, third, andfourth linkages pivoting actuator motors fourth pivoting brakes fourth rotation brackets rotation actuator motor 24B, asecond rotation brake 26B, all assembled in a manner similar to the components of thefirst subsystem 10A. Thesecond subsystem 10B is also operable to move asecond portion 72 of theseventh linkage 16G in three dimensions. - A
handle 100 is pivotally secured to extensions of the second portions of the third andseventh linkages handle 100 can pivot relative to thethird linkage 16C in all directions, i.e. upward and downward as well as into and out of the paper. Thehandle 100 can also pivot relative to theseventh linkage 16G in a similar manner, i.e. upward and downward and into and out of the paper. By moving thesecond portions 72 of the third andseventh linkages handle 100 can be moved in three dimensions. Moreover, the handle can be rotated about a vertical axis or an axis normal to the paper. Any combination of these movements is also possible. Thehandle 100 has an outer surface which is shaped to be held in a hand of a person. Forces and movement of thehandle 100 can be transferred to a hand of the person. The person can also move the handle, thereby rotating the spindles and shafts of thesubsystems - FIG. 3 is a cross-sectional side view illustrating the
motor 24A and thebrake 26A. Themotor 24A and thebrake 26A are shown by way of example. All the motors in FIG. 2 are the same and all the brakes in FIG. 2 are the same, although this is not a requirement of the invention. - The
motor 24A includes ahousing 102, a plurality ofstator magnets 104, amagnet support 106, and arotor 108. - The
housing 102 includes a magneticallyconductive core 110 and first and second magneticallyconductive end portions core 110 has alongitudinal axis 116. Themagnet support 106 is made of a non-magnetic material such as aluminum or plastic. Themagnet support 106 has a circularouter surface 118, and an opening therethrough through which thecore 110 is inserted. Themagnets 104 are secured to thesurface 118. - The first and
second end portions 102 are secured to opposing sides of thecore 110. Eachend portion axis 116. Eachend portion magnet support 106 so that outer edges thereof extend radially outwardly past themagnets 104. - As can be seen in FIG. 4, the
magnets 104 are located in a plurality ofcircular arrangements circular arrangement arrangement 120A, everyodd magnet 104A has north on a first side and south on a second, axially opposing side thereof. Every even magnet has south on the first side and north on the second side. - The
second arrangement 120B is axially spaced from thefirst arrangement 120A and thethird arrangement 120C is axially spaced from thesecond arrangement 120B. Afirst rotor gap 122A is defined between thefirst arrangement 120A and thesecond arrangement 120B. Asecond rotor gap 122B is defined between thesecond arrangement 120B and thethird arrangement 120C. The arrangements, 120A, 120B, and 120C are aligned with one another such thatmagnetic fields lines 124 are formed in one direction from a south side of odd magnets of thefirst arrangement 120A to a north side of odd magnets of thesecond arrangement 120B, and from a south side of odd magnets of thesecond arrangement 120B to a north side of odd magnets of thethird arrangement 120C.Magnetic field lines 126 form in a opposite direction from a south side of even magnets of thethird arrangement 120C to a north side of even magnets of thesecond arrangement 120B, and from a south side of even magnets of thesecond arrangement 120B to a north side of even magnets of thefirst arrangement 120B. Arespective field line rotor gaps - The
magnets 104 are electromagnets. Each magnet includes a coil through which a current can be provided to magnetize the coil. A magnetic field is created having magnetic field lines sequentially through thearrangements 120A, B, C, D and E, whereafter the magnetic field lines return through thesecond portion 114, thecore 110, and thefirst portion 112 to the magnets of thefirst arrangement 120A. - Referring again to FIG. 3, the
rotor 108 includes a plurality ofrotor components 130, alink 132, and anarm 134. - Each
rotor component 130 is a planar member which in the preferred embodiment is made from a printed circuit board for low cost. Therotor component 130 has acentral opening 138 which is located over theouter surface 118 of theattenuator 106. Eachrotor component 130 is located within arespective rotor gap 122. A portion of eachrotor component 130 also extends out of therespective rotor gap 122 and is located externally of themagnets 104. Thelink 132 is inserted through openings in the portions of therotor components 130 located externally of themagnets 104. Therotor components 130 are thereby mounted to one another. - A
pin 140 is secured to thesecond portion 114 of thehousing 102. Aball bearing 142 is located on an outer surface of thepin 140. A lower end of thearm 142 has a recess 144 therein located over theball bearing 142. The arm is thereby mounted to thepin 142 for rotation about theaxis 116. Thelink 132 is secured to an upper end of thearm 134. All the components of therotor 108 are thereby mounted to thehousing 102 for rotation about theaxis 116. In the embodiment shown, thelink 132 is located externally to and rotates about themagnets 104. - FIG. 4 shows one of the
rotor components 130. A respectiveelectrical conductor 140A is formed on eachrotor component 130. Theconductor 140A is made of copper and has twoterminals rotor 130, although aluminum has a substantially higher resistance than copper and would require additional power. Theconductor 140A includes a plurality ofsections 142. Thesections 142 includeodd sections 142A alternated by evensections 142B located in series. - When a current flows into one end of the
conductor 140, the current flows radially outwardly through all the odd sections and radially inwardly through all the even sections. A current through anodd section 142A in combination with a magnetic field represented byline 124 causes a force on the respectiveodd section 142A which causes rotation of theodd section 142A in adirection 146 about theaxis 116. The current through a respective evensection 142B in combination with amagnetic field line 126 causes a force on the respective evensection 142B which also causes rotation in thedirection 146 about theaxis 116. Utilizing a commutator (not shown in FIG. 4) the current can be reversed when theodd sections 142A are located in themagnetic field lines 126 and theeven sections 142B are located in the magnetic field lines 124. As such, rotation in thedirection 146 will be maintained. The current is again reversed when theodd sections 142A are located in themagnetic field lines 124, and so on. - An advantage of the
motor 24A is that there is no “cogging” torque (the steps that one feels when rotating a spindle) because there is no steel or similar ferrous material in therotor components 130 that may tend to line up with magnets. A user, when providing system feedback, will accordingly, not feel any cogging of therotor components 130. Since therotor components 130 are nonmagnetic, it has the disadvantage that magnetic fields lose substantial strength traveling through them just as if they were traveling through air. However, this disadvantage is overcome by making therotor components 130 thin and making therotor gaps 122 very small. An additional advantage of thethin rotor components 130 is a low rotational inertia. Another advantage is that more torque can be generated for its size because the magnetic field is continually reused by passing it through multiple rotors, thereby multiplying the torque generated by a single rotor. The magnetic return path created byhousing 102,housing 114, andcore 110 is shared by all of the rotors, instead of each rotor using a separate return path. - FIG. 5 now illustrates the
first conductor 140A in more detail. Theconductor 140A has a plurality ofturns axis 116. Each turn has a plurality ofodd sections 142A initially carrying current radially outward while a plurality of evensections 142B carry current radially inward. All theodd sections 142A are initially located in the oddmagnetic field lines 124 while all theeven sections 142B are located in the even magnetic field lines 126. - In the example illustrated, there are eight magnetic fields represented by the odd
magnetic field lines 124 and eight magnetic fields represented by the even magnetic field lines 126. Theodd sections 142A ofsuccessive turns thinner rotor component 130 is provided than would be the case should the sections be axially spaced. Athinner rotor component 130 contributes greatly to propagation of magnetic field, especially in the absence of a magnetic material such as steel. - FIG. 6 illustrates the
sections first conductor 140A and further illustratessections first conductors rotor component 130. Eachconductor Odd sections 142A of all theconductors conductor 140B located in the same magnetic field as odd sections of theconductor 140A are angularly spaced from the odd sections of theconductor 140A. - FIG. 7 illustrates components used to commutate power supplied to the
conductors 140 of themotor 24A. The components include anangle sensor 300, acontroller 302, apower supply 304, and threevariable switches 306. Thepower supply 304 supplies a voltage to all the variable switches 306. Eachswitch 306 is independently controlled by thecontroller 302. Theangle sensor 300 detects an angular position of therotor 108 and provides a signal indicative of the angular position to thecontroller 302. Thecontroller 302 switches each switched sixteen times (equivalent to the number of magnetic fields or the number ofmagnets 104 in an arrangement 120) during one revolution of the rotor. The phases of the switches lag behind one another by their angular displacement, i.e. by {fraction (1/48)} of a revolution of the rotor. Eachswitch 306 is controlled so as to provide a sinusoidal voltage to therespective conductors rotor 108. - The
brake 26A shown in FIG. 3 is a hysteresis brake that includes ahousing 150, a plurality ofelectromagnets 152, theshaft 36A, and arotor 154. Therotor 154 has a plurality of magnets (not shown) located in a circular arrangement thereon.Electric conductors electromagnets 152. Eachelectric conductor respective terminal terminals electromagnets 152. Theelectromagnets 152 are thereby magnetized. Moreover, the voltage over theterminals electromagnets 152. - The
rotor 154 is secured to the shaft 46A and can rotate freely when theelectromagnets 152 are not magnetized. There is then no torque which prevents rotation of therotor 154. An increase in magnetization of theelectromagnets 152 creates a resistance which resists rotation of therotor 154. Thespindle 32A is formed on the arm 34 of themotor 24A and thespindle 32A is connected to theshaft 36A. Any movement imparted on theshaft 36A by themotor 24A can be braked by applying a voltage over theterminals terminals - While certain exemplary embodiments have been described and shown in the accompanying drawings, it is to be understood that such embodiments are merely illustrative and not restrictive of the current invention, and that this invention is not restricted to the specific constructions and arrangements shown and described since modifications may occur to those ordinarily skilled in the art.
- For example, the
rotor 108 includes a plurality ofplanar rotor components 130. Another embodiment may have a planar disk rotor including an outer disk rotor component and an inner disk rotor component, the rotor components thus being concentrically located, one within the other. Such an arrangement could use magnet arrangements located concentrically within one another. - Another embodiment could use magnet arrangements located concentrically within one another and being radially polarized. A respective cylindrical rotor component could be inserted in a respective rotor gap between a respective outer and a respective inner magnet arrangement.
- Utilizing concentric rings of magnets have the disadvantage of large flux density changes. In the present embodiment, the flux density remains relatively constant through all the rotor components.
- The present embodiment also utilized universal joints that have the advantage that they are less expensive to manufacture than, for example, constant-velocity joints. Constant-velocity joints, by contrast, have the advantage that they do not cause the typical 1-3% variation in angular velocity associated with universal joints. However, the change in velocity of the universal joints can be compensated for by a control system controlling the rotation speed of the motors.
- Furthermore, the present invention utilizes electromagnets because of better performance. Permanent magnets could alternatively be used to reduce cost and/or power consumption.
- It is also possible to construct the invention without
brakes - It is also possible to construct the invention by eliminating one paired motor and
brake subsystem
Claims (18)
Priority Applications (1)
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US09/770,973 US6339420B2 (en) | 2000-01-25 | 2001-01-25 | Actuation device having multiple degrees of freedom of movement and reduced inertia |
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US09/770,973 US6339420B2 (en) | 2000-01-25 | 2001-01-25 | Actuation device having multiple degrees of freedom of movement and reduced inertia |
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US20010028360A1 true US20010028360A1 (en) | 2001-10-11 |
US6339420B2 US6339420B2 (en) | 2002-01-15 |
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US09/770,971 Expired - Fee Related US6420806B2 (en) | 2000-01-25 | 2001-01-25 | Actuation device with actuator and brake |
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US09/770,971 Expired - Fee Related US6420806B2 (en) | 2000-01-25 | 2001-01-25 | Actuation device with actuator and brake |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2009064499A1 (en) | 2007-11-15 | 2009-05-22 | Ergowerx, Llc | Motorized game controller |
Families Citing this family (23)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE20022244U1 (en) * | 1999-07-01 | 2001-11-08 | Immersion Corp | Control of vibrotactile sensations for haptic feedback devices |
WO2001056006A1 (en) * | 2000-01-25 | 2001-08-02 | Mythtree, Inc. | An actuation device with actuator and brake |
US7182691B1 (en) * | 2000-09-28 | 2007-02-27 | Immersion Corporation | Directional inertial tactile feedback using rotating masses |
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- 2001-01-25 WO PCT/US2001/002463 patent/WO2001056006A1/en active Application Filing
- 2001-01-25 AU AU2001232973A patent/AU2001232973A1/en not_active Abandoned
- 2001-01-25 AU AU2001232972A patent/AU2001232972A1/en not_active Abandoned
- 2001-01-25 WO PCT/US2001/002462 patent/WO2001056005A1/en active Application Filing
- 2001-01-25 AU AU2001232985A patent/AU2001232985A1/en not_active Abandoned
- 2001-01-25 US US09/770,973 patent/US6339420B2/en not_active Expired - Fee Related
- 2001-01-25 WO PCT/US2001/002537 patent/WO2001056139A1/en active Application Filing
- 2001-01-25 US US09/770,971 patent/US6420806B2/en not_active Expired - Fee Related
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WO2009064499A1 (en) | 2007-11-15 | 2009-05-22 | Ergowerx, Llc | Motorized game controller |
EP2231291A1 (en) * | 2007-11-15 | 2010-09-29 | Ergowerx, LLC | Motorized game controller |
EP2231291A4 (en) * | 2007-11-15 | 2010-12-08 | Ergowerx Llc | Motorized game controller |
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US6339420B2 (en) | 2002-01-15 |
AU2001232972A1 (en) | 2001-08-07 |
AU2001232973A1 (en) | 2001-08-07 |
WO2001056139A1 (en) | 2001-08-02 |
WO2001056006A9 (en) | 2002-10-17 |
WO2001056005A9 (en) | 2002-10-17 |
WO2001056139A9 (en) | 2002-10-31 |
AU2001232985A1 (en) | 2001-08-07 |
WO2001056005A1 (en) | 2001-08-02 |
US20010035689A1 (en) | 2001-11-01 |
US6420806B2 (en) | 2002-07-16 |
WO2001056006A1 (en) | 2001-08-02 |
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