WO2017083956A1

WO2017083956A1 - Energy converting device

Info

Publication number: WO2017083956A1
Application number: PCT/CA2016/000285
Authority: WO
Inventors: Oliver Rex Anto Emmanuel
Original assignee: Oliver Rex Anto Emmanuel
Priority date: 2015-11-18
Filing date: 2016-11-18
Publication date: 2017-05-26

Abstract

An energy converting device comprising a plate, a shaft coupled to the plate at a rotation point such that a geometric center of the plate is offset from the rotation point, a plurality of actuators arranged about an first actuator surface extending about the plate, each of the actuators directed towards the shaft such that actuation of each of the actuators facilitates rotation of the plate about the rotation point, and a control system to measure an actuation position of each actuator, each actuation position of each actuator cooperating with a respective actuation position of each other actuator to correspond to a unique angular position of the center of the plate with respect to the rotation point.

Description

ENERGY CONVERTING DEVICE

TECHNICAL FIELD

[0001] The present disclosure relates to an energy converter. More particularly, the present disclosure relates to an energy converter operable as a stepper motor or a generator with an infinite number of steps.

BACKGROUND

[0002] Motors convert electrical energy into rotational energy of a rotating shaft. Stepper motor designs historically divide a full rotation of a rotor into a number of equal steps. Stepper motors provide for commanding a rotor between known positions and holding the rotor at a single position at multiple known locations. Stepper motors typically provide these features without the use of a feedback sensor (an open-loop controller), as long as the motor is carefully sized to the application.

[0003] Historically, stepper motors have been used to achieve precise angles and control for various mechanical systems, e.g., for biomedical fluid analysis, semiconductor or wafer sorting and scanning, PCB/chip alignment for vision inspection, etc. Stepper motors are generally used as open-loop systems which deliver high performance without requiring feedback systems or control system tuning. Stepper motors can be used quickly and efficiently, however lack precise position information which can result in inaccurate response and control.

[0004] As a result, some manufacturers have begun to design mechanisms and control systems to monitor the position of the stepper motor more precisely to correct for missed steps during moves. In one example application, an encoder can be installed on a stepper motor which provides positional information to the control system. The encoder enables the control system to detect and measure rotor position after movement and then, if required, execute a secondary error correction move to correct an error. [0005] To date, there remain drawbacks to these types of feedback control systems. For example, cycle times for the control system invariably increase where an error correction move is performed after a move is completed. Furthermore, corruption in position geometry may occur (e.g., if the move being executed is not a straight line), considerable lag time in correction may occur (since correction is not performed until after a move is completed), position error is not corrected when the axis is standing still, and no correction may be performed when the axis of the movement is used as a slave to a master.

[0006] Generators traditionally operate in reverse to motors and can experience drawbacks similar to motors.

[0007] Correspondingly, improvements in mechanisms to detect and measure precise position information within a stepper motor or a generator are desired.

SUMMARY

[0008] It is an object of the present invention to provide a motor or generator and operations thereof to obviate or mitigate at least one of the above disadvantages.

[0009] In one embodiment, a motor is disclosed. The motor comprises a plate; a shaft coupled to the plate at a rotation point such that a geometric center of the plate is offset from the rotation point; at least three actuators arranged about a first actuator surface of the plate, each of the actuators directed towards the shaft such that actuation of each of the actuators towards the first actuator surface of the plate delivers a force to the plate to facilitate rotation of the plate about the rotation point; and a control system to drive an actuated position of each actuator, each actuated position of each actuator cooperating with a respective actuated position of each other actuator to correspond to an angular position of the center of the plate with respect to the rotation point.

[0010] According to another aspect, a generator is disclosed. The generator comprises a plate; a shaft coupled to the plate at a rotation point such that a geometric center of the plate is offset from the rotation point such that rotation of the shaft facilitates rotation of the plate; at least three actuators arranged about a first actuator surface of the plate, each of the actuators directed towards the shaft such that each of the actuators receives a force from the plate upon rotation of the shaft to initiate reciprocation of said each of the actuators to generate power from said reciprocation; and a control system to monitor an actuated position of each actuator, each actuated position of each actuator cooperating with a respective actuated position of each other actuator to correspond to an angular position of the center of the plate with respect to the rotation point.

[0011] According to another embodiment, a motor is disclosed. The motor comprises a plate; a shaft coupled to the plate at a rotation point such that a geometric center of the plate is offset from the rotation point; at least three actuators arranged about a first actuator surface of the plate, each of the actuators directed towards the shaft such that actuation of each of the actuators towards the first actuator surface of the plate delivers a force to the plate to facilitate rotation of the plate about the rotation point; a stator positioned about the at least three actuators and coupled to the plate, the stator providing a second actuator surface such that actuation of each of the actuators towards the second actuator surface facilitates rotation of the plate; and a control system to drive an actuated position of each actuator, each actuated position of each actuator cooperating with a respective actuated position of each other actuator to correspond to an angular position of the center of the plate with respect to the rotation point.

[0012] According to another aspect, a generator is disclosed. The generator comprises a plate; a shaft coupled to the plate at a rotation point such that a geometric center of the plate is offset from the rotation point such that rotation of the shaft facilitates rotation of the plate; at least three actuators arranged about a first actuator surface of the plate, each of the actuators directed towards the shaft such that each of the actuators receives a force from the plate upon rotation of the plate to initiate reciprocation of said each of the actuators to generate power from said reciprocation; a stator positioned about the at least three actuators and coupled to the plate, the stator providing a second actuator surface such that each of the actuators receives a force from the stator upon rotation of the shaft; and a control system to monitor an actuated position of each actuator, each actuated position of each actuator cooperating with a respective actuated position of each other actuator to correspond to an angular position of the center of the plate with respect to the rotation point.

[0013] According to another embodiment, a motor is disclosed. The motor comprises a stator; a shaft coupled to the stator by a connector, the shaft rotatable about a rotation point such that a geometric center of the stator is offset from the rotation point; at least three actuators positioned between the stator and the shaft, each of the actuators directed away from the shaft such that actuation of each of the actuators towards a first actuator surface of the stator delivers a force to the stator to facilitate rotation of the stator about the rotation point; and a control system to drive an actuated position of each actuator, each actuated position of each actuator cooperating with a respective actuated position of each other actuator to correspond to an angular position of the center of the stator with respect to the rotation point.

[0014] According to another aspect, a generator is disclosed. The generator comprises a stator; a shaft coupled to the stator by a connector, the shaft providing a rotation point such that a geometric center of the stator is offset from the rotation point; at least three actuators arranged about a first actuator surface of the stator, each of the actuators directed away from the shaft such that each of the actuators receives a force from the stator upon rotation of the shaft to initiate reciprocation of said each of the actuators to generate power from said reciprocation; and a control system to monitor an actuated position of each actuator, each actuated position of each actuator cooperating with a respective actuated position of each other actuator to correspond to an angular position of the center of the stator with respect to the rotation point.

[0015] Additional aspects and advantages of the present invention will be apparent in view of the description which follows. It should be understood, however, that the detailed description and the specific examples, while indicating preferred embodiments of the invention, are given by way of illustration only, since various changes and modifications within the spirit and scope of the invention will become apparent to those skilled in the art from this detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Further features and advantages of the present disclosure will become apparent from the following detailed description, taken in combination with the appended drawings, in which:

[0017] Figure 1 shows a top view of a first embodiment of an energy converting device with six actuators.

[0018] Figure 2 shows a top view of a first embodiment of an energy converting device with nine actuators.

[0019] Figure 3 shows a top view of a second embodiment of an energy converting device with three actuators at a first position.

[0020] Figure 4 shows an isometric view of the energy converting device of Figure 3 at a first position.

[0021] Figure 5 shows an isometric view of the energy converting device of Figure 3 at a second position.

[0022] Figure 6 shows an isometric view of the energy converting device of Figure 3 at a third position.

[0023] Figure 7 shows a top view of a second embodiment of an energy converting device with four actuators labeled A-D.

[0024] Figure 8 show a top view of a third embodiment

[0025] Figure 9 shows a graph of angular displacement versus angle of rotation for the energy converting device of Figure 1

[0026] Figure 10 shows a graph of linear displacement versus angle of rotation for the energy converting device of Figure 1 , where each actuator has a travel of 6mm and the offset is 3mm.

[0027] Figure 1 1 shows two graphs of linear displacement versus time for an exemplary energy converting device with six actuators. [0028] Figure 12 shows a third graph of linear displacement versus time for an exemplary energy converting device assembly with six actuators.

[0029] Figure 13 shows an embodiment of an energy converting device where the shaft is coupled to the plate via a couple, the plate being at a first position; and

[0030] Figure 14 shows an embodiment of an energy converting device where the shaft is coupled to the plate via a couple, the plate being at a second position.

[0031] It will be noted that throughout the appended drawings, like features are identified by like reference numerals.

DETAILED DESCRIPTION

[0032] Embodiments are described below, by way of example, with reference to Figures 1 to 14. The embodiments described and depicted herein provide an energy converting device.

[0033] The embodiments herein describe an energy converting device (e.g. a motor or a generator). In one embodiment, the energy converting device comprises a shaft, a plate, a plurality of actuators positioned about the shaft and a control system as shown in Figure 1. The shaft is coupled to the plate such that a center of the shaft couples to the plate at a rotation point. The plate has a geometric center that is offset from the rotation point of the shaft. The plurality of actuators are positioned about the shaft to apply a force to the plate to direct rotation of the plate and the shaft.

[0034] In a second embodiment, the energy converting device comprises a shaft, a plate, a stator, a plurality of actuators positioned about the shaft and a control system as shown in Figure 3. The shaft is coupled to the plate such that a center of the shaft couples to the plate at a rotation point. The plate is coupled to the stator and has a geometric center that is offset from the rotation point of the shaft. The plurality of actuators are positioned about the shaft to apply a force to at least one of the plate and the stator to direct rotation of the plate and the stator about the shaft. [0035] In a third embodiment, the energy converting device comprises a shaft, a stator, a plurality of actuators positioned about the shaft and a control system as shown in Figure 6. The shaft is coupled to the stator. The stator has a geometric center that is offset from a rotation point of the shaft. The plurality of actuators are positioned about and directed away from the shaft to apply a force to the stator to facilitate rotation of the stator and the shaft.

[0036] When operating as a motor, each embodiment comprises a control system coupled to each of the actuators to control actuation of each of the actuators to provide rotation of the plate and/or the stator (where appropriate). To determine the precise location of the geometric center of the plate and/or the stator, the control system drives actuation of each actuator between a retracted position and an extended position (e.g. to an actuation position). An angle of rotation of the plate and/or the stator between a reference line (as defined below), the rotation point and the geometric center of the plate and/or the stator can be calculated for a known offset distance using each magnitude of each actuator to determine a precise location of the geometric center of the plate and/or the stator.

[0037] When operating as a generator, the control system monitors a magnitude of actuation (e.g. an actuation position) of each actuator to determine a precise location of the geometric center of the plate and/or the stator as described above. However, rotation of the plate and/or the stator is provided by mechanical rotation of the shaft (e.g. by a cam or other form of mechanical actuation) rather than by actuation of each of the actuators positioned about the shaft.

[0038] Described herein are various embodiments for an energy converter to convert electrical, mechanical or pneumatic energy into rotational energy of a rotating shaft or, conversely, to convert rotational energy of a rotating shaft into electrical, mechanical or pneumatic energy, as further described below.

[0039] Turning to the Figures, Figure 1 is a top view of a first embodiment of an energy converting device 100. In the embodiments provided herein, the energy converting device 100 can function as either of a motor (e.g. stepper motor) converting electrical, mechanical or pneumatic energy into rotational energy or a generator converting rotational energy into electrical, mechanical or pneumatic energy.

[0040] Figure 1 is a top view of one embodiment of an energy converting device 100. Shaft 102 is coupled to a plate 104 such that a center of shaft 102 couples to plate 104 at a rotation point 106. Shaft 02 is oriented transverse to plate 104 and intersects plate 104 at rotation point 106. Shaft 102 defines a first axis X (see for example Figure 4) that is also transverse to plate 104 and also intersects plate 104 at the rotation point 106. Shaft 102 couples to plate 104 at a first end 101 of shaft 102 and co-operates with a generator 108 at a second end 103 of shaft 102 (see for example Figure 4). Rotation of plate 104 provides for rotation of shaft 102 about axis X defined by shaft 102. Shaft 102 is coupled to plate 104 at a position spaced from or adjacent to a center 120 of plate 104.

[0041] Center 120 of plate 104 is a geometric center of plate 104. A geometric center is understood to be the centroid of a two-dimensional region (i.e. the arithmetic mean or ("average") position of all the points in the shape). Any object in n-dimensional space can have a geometric center where the geometric center is the mean position of all the points in all of the coordinate directions. Axis X defined by shaft 102 is laterally spaced from center 120. Rotation point 106 is the point around which plate 104 rotates or revolves.

[0042] Plate 104 is shaped such that it has an upper surface 112 and a lower surface 1 14. In one embodiment, each of upper surface 1 12 and lower surface 114 are flat (e.g. planar). In another embodiment, plate 104 is disc-shaped. Plate 104 can have an aperture 1 16 centrally positioned therein, aperture 1 16 defining a hole 1 18 through plate 104. Center 120 can be positioned within central aperture 1 16 such that center 120 defines a second axis Y (see for example Figure 4) that is also transverse to plate 104. Axis X and axis Y can be parallel to each other.

[0043] Center 120 of plate 104 and rotation point 106 about which plate 104 rotates are laterally spaced apart from each other such that axis X and axis Y are also laterally spaced apart from each other. Axis X and axis Y are therefore non-coaxial. The lateral distance between center 120 of plate 104 and rotation point 106 is an offset. Offset refers to a distance that center 120 of plate 104 is laterally spaced from or positioned away or apart from rotation point 106 about which plate 104 rotates and shaft 102 couples to plate 104. The offset between center 120 of plate 104 and rotation point 106 is a measurable distance measured horizontally from a main line of measurement (e.g. the first axis). The rotation point 106 and center 120 are laterally spaced. Offset also represents the distance between axis X and axis Y where each of axes X and Y intersect plate 104 along either of upper surface 1 12 of lower surface 14 of plate 104. Offset can also refer to a relationship describing a position of center 120 with respect to rotation point 106. For example, the offset between center 120 of plate 104 and rotation point 106 is a measurable distance measured horizontally from a main line of measurement (e.g. the first axis) to a secondary line of measurement (e.g. the second axis). In another example, center 120 is offset from rotation point 106.

[0044] As show in Figures 1 and 2, plate 104 has a rounded shape (e.g. circular) and has a periphery 124 spaced apart from center 120. The upper 1 12 and/or lower 1 14 surfaces of the plate 104 terminate at the periphery 124 of the plate 104. A first actuator surface 125 extends about or adjacent to periphery 124 of plate 104 and provides a surface for actuation by each of the plurality of actuators 134. First actuator surface 125 is a surface distal to center 120 of plate 104 oriented to be transverse to upper 1 12 and lower 1 4 surfaces of plate 104. First actuator surface 125 can be an outside limit (e.g. boundary) of either or both of upper 1 12 and lower 1 14 surfaces of plate 104. Further, first actuator surface 125 can be a single coterminous surface or can be comprised of more than one surface. Periphery 124 of plate 104 is also distal from center 120 of plate 104 and distal from rotation point 106. Between center 120 of plate 104 and periphery 124 of plate 104 is an interior 126. In one embodiment, rotation point 106 is positioned within interior 126 of plate 104. In one embodiment, plate 104 can be annular (e.g. disc-shaped) and first actuator surface 125 of plate 104 can be a surface to be acted upon by an external force. Periphery 124 can comprise first actuator surface 125 and edge 140, as shown in Figure 1.

[0045] In the embodiment shown at Figures 1 and 2, each actuator 134 comprises a body 136 and an actuating portion 135. Body 136 is mounted to frame 190 for support and positioned such that actuating portion 135 is moveable in a direction towards and away from rotation point 106. Each of the plurality of actuators 134 is positioned about first actuator surface 125 and periphery 124 of plate 104. Actuators 134 are positioned about shaft 102 and are directed towards axis X. Further, the plurality of actuators 134 are positioned about plate 104 such that during rotation at least one of actuators 134 is directed off center with respect to center 120 of plate 104. During rotation, at least one actuator 134 can apply a force toward rotation point 106 to facilitate rotation of plate 104 (e.g. at least one actuator 134 can direct a force towards rotation point 106 and be directed off center with respect to center 120 of plate 104) about rotation point 106.

[0046] Each body 136 of each actuator 34 is mounted to frame 190 to support each actuator 34. Each actuator 134 can either use power delivered by body 136 to actuate (i.e. reciprocate) actuating portion 135 or actuating portion 135 can be actuated (i.e. reciprocated) to generate power from the body 136.

[0047] In one example, each actuator 134 is hydraulic and comprises a piston (e.g. actuating portion 135) inside a hollow cylinder (e.g. body 136). When operating as a generator, force provided by actuating surface 125 is used by the body 136 to drive (e.g. reciprocate) actuating portion 135 against a hydraulic fluid to generate power. When operating as a motor, a hydraulic fluid drives actuating portion 135 against actuating surface 125 to rotate plate 104.

[0048] In a second example, each actuator 134 is electric and comprises a ferromagnetic plunger (e.g. actuating portion 35) that is free to move (e.g. reciprocate) in and out of a coil (e.g. in body 136). When operating as a generator, force provided by actuating surface 125 drives (e.g. reciprocates) a ferromagnetic actuating portion 135 in and out of body 136 comprising an electrical coil to induce an electrical current in the coil. Conversely, actuating portion 135 can comprise an electrical coil and body 136 can comprise a magnet, whereby movement (e.g. reciprocation) of actuating portion 135 within the magnetized body 136 can also induce an electrical current in the coil. When operating as a motor, inducing and electrical current in body 136 comprising an electrical coil can drive (e.g. reciprocate) magnetic actuating portion 135 against actuating surface 125 to use power and rotate plate 104. Conversely, actuating portion 135 can comprise an electrical coil and body 136 can comprise a magnet whereby inducing an electrical current in the actuating portion 135 within the magnetized body 136 can drive actuating portion 135 (e.g. reciprocation) against actuating surface 125 to use power and rotate plate 104.

[0049] Each of actuators 134 acts on (e.g. directs a force towards) at least one of a portion 129 of first actuator surface 125 of plate 104. For example, actuators 134 can be directed at rotation point 106. Each of actuators 134 can be centered around shaft 102 (e.g. axis X or rotation point 106). In one embodiment, each of actuators 134 is positioned about plate 104 to be equidistant from shaft 102 (e.g. axis X or rotation point 106). Actuation of each of actuators 134 positioned about periphery 124 of plate 104 facilitates movement (e.g. reciprocation) of each actuating portion 135 of each actuator 134 in a direction transverse to first actuator surface 125 of plate 104. Each actuating portion 135 each of the plurality of actuators 134 can radially extend towards first actuator surface 125 to deliver a force to plate 104. Each of actuators 134 has a travel defined as the displacement of actuating portion 135 from a first position (e.g. retracted position with respect to the first actuator surface 125) to a second position (e.g. extended position with respect to the first actuator surface 125). In one embodiment, the travel of each of actuators 134 is equal to twice the offset between axis X (e.g. shaft 102 or rotation point 106) and axis Y (e.g. center 120). Each actuating portion 135 of each actuator 134 is moveable (e.g. reciprocates) between a retracted position with respect to the first actuator surface 125 and an extended position with respect to the first actuator surface 125 to an actuated position. Each actuator 134 has an extended state with respect to the first actuator surface 125 and a retracted state with respect to the first actuator surface 125 where actuating portion 135 is extended towards or retracted from a portion 129 of first actuator surface 125, respectively.

[0050] A force delivered by each of actuators 134 can be transferred to at least one of a portion 129 of first actuator surface 125.

[0051] When a force is delivered by each of actuators 134 to portion 129 of first actuator surface 125, the force is delivered in a direction transverse to first actuator surface 125. For example, a force exerted by an actuator 134 is delivered along reference line R (e.g. in a direction defined by an actuator 134 transverse to first actuator surface 125 toward shaft 102 (e.g. rotation point 106 and axis X; see Figures 1 , 2 and 7)). As shown in Figures 1 and 2, reference line R is a line that passes through an actuator 134 and rotation point 106. Each actuator 134 therefore has a respective reference line R. A position of center 120 with respect to reference line R is determined by measuring an angle between reference line R and a line connecting rotation point 106 and center 120 in a counter-clockwise direction.

[0052] A force exerted by any one of actuators 134 in a direction of its respective portion 129 of first actuator surface 125 is directed towards axis X (e.g. towards shaft 102 or rotation point 106) along reference line R. By directing a force at axis X along reference line R rather than towards axis Y (e.g. center 120), a torque is generated in a direction from reference line R towards a side of plate 104 where center 120 is positioned. The torque is a force applied along a line of response directed off center with respect to geometric center 120 of plate 104. Applying a torque to plate 104 changes the angular momentum of (e.g. rotates) plate 104 about rotation point 106. The magnitude and direction of the torque depends on at least three factors: the magnitude of the applied force, a distance of the geometric center from reference line R when the force is applied in a direction of reference line R towards rotation point 106, and a distance between the rotation point 06 and the first actuator surface 125 that receives the force. In one embodiment, plate 104 is rigid so all parts of plate 104 rotate about axis X defined by shaft 102 in circular motion. Figures 3 and 4 show rotation of plate 104 about center 120 as shown by position of rotation point 106 with respect to center 120.

[0053] In one example of rotation of plate 104 about rotation point 106, when center 120 is positioned adjacent and lateral to reference line R at an angle of 0-180 degrees from reference line R (measured from actuator 134 applying a force in a counterclockwise direction), a torque is generated in a counter-clockwise direction from reference line R about rotation point 106 when a force is received by plate 104 from portion 129 of first actuator surface 125 from at least one of actuators 134 in a direction towards axis X. A force received by portion 129 of first actuator surface 125 from at least one of actuators 134 in a direction towards axis X changes the angular displacement of portion 129 of first actuator surface 125 upon which each actuator applies a force, resulting in rotation of plate 104 (and shaft 102) in a counter-clockwise direction. For example, referring to Figure 7, a force applied by actuator B in a direction towards axis X along reference line R will facilitate rotation of plate 104 in a counterclockwise direction.

[0054] In another example of rotation of plate 104 about rotation point 106, when center 120 is positioned adjacent and lateral to reference line R at an angle of 180-360 degrees from reference line R (measured from actuator 134 applying a force in a counterclockwise direction), a torque is generated in a clockwise direction from reference line R about rotation point 106. The force received by plate 104 from each of actuators 134 in a direction towards axis X changes the angular displacement of portion 129 of actuator surface 125 upon which each actuator applies a force, resulting in rotation of plate 104 (and shaft 102) in a clockwise direction. For example, referring again to Figure 7, a force applied by actuator D in a direction towards axis X along reference line R will facilitate rotation of plate 104 in a clockwise direction.

[0055] Control system 160 controls (e.g. directs) actuation of each of actuators 134 disposed about shaft 102. Control is achieved by measuring an actuated position of each of actuating portions 135 of each of actuators 134 and directing movement of each of actuating portions 135 in response thereto. Each actuated position of each of actuating portions 135 of each of actuators 134 cooperates with each other actuated position of each other actuating portion 135 of each other actuator 134 to form a set of actuated positions 180. Each set of actuated positions 180 corresponds to a unique angular location of center 120 with respect to rotation point 106 measured from reference line R. By measuring the actuated position (e.g. displacement) of each of actuating portions 135 of each of actuators 134, a control system 160 can determine the unique angular location of center 20 with respect to rotation point 106.

[0056] Determination of unique angular location of center 120 with respect to rotation point 106 is determined using an equation for the position (e.g. displacement) of each of actuating portions 135 of each of actuators 134 with respect to an angle of rotation, as follows:

(-cos(x) ^* d) + d where x = angle of rotation of the plate d = offset of the center of the plate from the center of rotation (e.g. rotation point).

[0057] When device 100 is operating as a motor, control system 160 drives movement (e.g. reciprocation) of each actuating portion 135 of each actuator 134 based on the unique angular location of center 120 with respect to rotation point 106. For example, control system 160 can use (e.g. lookup) the aforementioned equation to ascertain each unique angular location of center 120 with respect to rotation point 106. Control system 160 monitors the actuated position of each actuating portion 135 of each actuator 34 to ascertain the angular location of center 120 with respect to rotation point 106 and selects which actuating portions 135 of actuators 134 to drive, either in parallel or in series, to rotate plate 104 about rotation point 106. Control system 160 can drive actuating portions 135 of actuators 134, either in parallel or in series, to rotate plate 104 about rotation point 106 in either of a clockwise or counterclockwise direction. To rotate the plate in a counterclockwise direction, control system 160 drives actuation of the respective actuating portion 135 of actuator 134 whose respective reference line R forms an angle of 0-180 degrees (measured from actuator 134 applying a force in a counterclockwise direction) with a line connecting rotation point 106 and center 120. Actuation continues until the angle between the reference line R and the line connecting rotation point 106 and center 120 approaches 180 degrees. In one example, control system 160 selects to drive actuation of the respective actuating portion 135 of actuator 134 whose respective reference line R forms an angle closest to 90 degrees (measured from actuator 134 applying a force in a counterclockwise direction) with a line connecting rotation point 106 and center 120 when compared to the respective reference lines R of each of the plurality of actuators 134 to rotate the plate in a counterclockwise direction.

[0058] To rotate the plate in a clockwise direction, control system 160 drives actuation of the respective actuating portion 135 of actuator 134 whose respective reference line R forms an angle of 180-360 degrees (measured from actuator 134 applying a force in a counterclockwise direction) with a line connecting rotation point 106 and center 120. Actuation continues until the angle between the reference line R and the line connecting rotation point 106 and center 120 approaches 360 (or zero) degrees. In one example, control system 160 selects to drive actuation of the respective actuating portion 135 of actuator 134 whose respective reference line R forms an angle closest to 270 degrees (measured from actuator 134 applying a force in a counterclockwise direction) with a line connecting rotation point 106 and center 120 when compared to the respective reference lines R of each of the plurality of actuators 134 to rotate the plate in a clockwise direction.

[0059] When operating as a generator, control system 160 can monitor and identify a direction of rotation of plate 104 based on the unique angular location of center 120 with respect to rotation point 106 and process power output at each actuator that is reciprocating.

[0060] Further, plate 104 can be shaped such that it is a hollow plate (e.g. a disc). In this embodiment (not shown), each of upper surface 1 12 and lower surface 114 are flat (e.g. planar) and the plate 104 comprises a centrally positioned aperture. The aperture is positioned and shaped such that at least a portion of the aperture can receive shaft 102.

[0061] In a second embodiment provided as energy converting device 300 and shown in Figures 3 to 6, a stator 30 is coupled to plate 104 by at least one connector 105 to rotate about shaft 102 (e.g. rotation point 106) with rotation of plate 104. Stator 130 can be coupled to plate 104 by any coupling mechanism. In the embodiments shown in Figures 3 to 6, stator 130 is coupled to plate 104 by connector 105. In this embodiment, connector 105 is two connecting rods 144. Stator 130 also has a rounded shape (e.g. circular), an upper surface 131 and a lower surface 132. Upper surface 131 and a lower surface 132 of stator 130 terminate at a second actuator surface 137 that provides a second surface to act on for each of the plurality of actuators 134. Second actuator surface 137 is a surface distal to first actuator surface 125 of plate 104 and oriented to be transverse to upper 131 and lower 132 surfaces of stator 130. Second actuator surface 137 can be an inside limit (e.g. boundary) of either or both of upper 131 and lower 132 surfaces of stator 130 adjacent to each actuator 134. Further, second actuator surface 137 can be a single coterminous surface or can be comprised of more than one surface. In one embodiment, stator 130 can be annular (e.g. disc-shaped) and second actuator surface 137 of stator 130 can be a surface to be acted upon by an external force.

[0062] In the embodiment shown at Figures 3 to 6, each actuator 134 comprises a body 136 and an actuating portion 135. Body 136 is mounted to frame 190 for support and positioned such that actuating portion 135 is moveable in a direction towards and away from rotation point 06. Each of the plurality of actuators 134 is positioned about first actuator surface 125 and periphery 124 of plate 104. Actuators 134 are positioned about shaft 102 and are directed towards axis X. Further, the plurality of actuators 134 are positioned about plate 104 such that during rotation at least one of actuators 134 is directed off center with respect to center 120 of plate 104. During rotation, at least one actuator 134 can apply a force toward rotation point 106 to facilitate rotation of plate 104 (e.g. at least one actuator 134 can direct a force towards rotation point 106 and be directed off center with respect to center 120 of plate 104) about rotation point 106.

[0063] Each body 36 of each actuator 134 is mounted to frame 190 to support each actuator 134. Each actuator 134 can either use power delivered by body 136 to actuate (i.e. reciprocate) actuating portion 135 or actuating portion 135 can be actuated (i.e. reciprocated) to generate power from the body 136.

[0064] In one example, each actuator 134 is hydraulic and comprises a piston (e.g. actuating portion 135) inside a hollow cylinder (e.g. body 136). When operating as a generator, force provided by actuating surface 125 is used by the body 136 to drive (e.g. reciprocate) actuating portion 135 against a hydraulic fluid to generate power. When operating as a motor, a hydraulic fluid drives actuating portion 135 against actuating surface 125 to use power and rotate plate 104.

[0065] In a second example, each actuator 134 is electric and comprises a ferromagnetic plunger (e.g. actuating portion 135) that is free to move (e.g. reciprocate) in and out of a coil (e.g. in body 136). When operating as a generator, force provided by actuating surface 125 drives (e.g. reciprocates) a magnetic actuating portion 135 in and out of body 136 comprising an electrical coil to induce an electrical current in the coil. Conversely, actuating portion 135 can comprise an electrical coil and body 36 can comprise a magnet, whereby movement (e.g. reciprocation) of actuating portion 135 within the magnetized body 136 can also induce an electrical current in the coil. When operating as a motor, inducing and electrical current in body 136 comprising an electrical coil can drive (e.g. reciprocate) magnetic actuating portion 135 against actuating surface 125 to use power and rotate plate 104. Conversely, actuating portion

135 can comprise an electrical coil and body 136 can comprise a magnet whereby inducing an electrical current in the actuating portion 135 within the magnetized body

136 can drive actuating portion 135 (e.g. reciprocation) against actuating surface 125 to use power and rotate plate 104.

[0066] Each of the actuators 134 are positioned between first actuator surface 125 of plate 104 and second actuator surface 137 of stator 130 in gap 148. Gap 148 is defined as the region between the opposed first actuator surface 125 of plate 102 and second actuator surface 137 of stator 130. As shown in Figures 3 to 6, gap 148 can have a uniform shape such that first actuator surface 125 and second actuator surface 137 are positioned to be equidistant to each other at all positions about shaft 102 (e.g. rotation point 106). Each of the actuators 134 is mounted onto a frame 190 for support. Further, the plurality of actuators 134 are positioned about plate 104 such that during rotation at least one of actuators 134 is directed off center with respect to center 120 of plate 104. At least one actuator is therefore always able to apply a force to facilitate rotation of plate 104 (e.g. at least one actuator can direct a force towards rotation point 106 and be directed off center with respect to center 120 of plate 04).

[0067] In this embodiment, each of actuators 134 acts on (e.g. directs a force towards) at least one of a portion 129 of first actuator surface 125 of plate 104 and a portion 139 of second actuator surface 137 of stator 130. Actuators 134 are positioned about shaft 102 and are directed towards axis X. For example, actuators 134 can be directed at rotation point 106. Each of actuators 134 can be centered around shaft 102 (e.g. axis X or rotation point 106). In one aspect, each of actuators 134 is positioned about plate 104 to be equidistant from shaft 102 (e.g. axis X or rotation point 106). [0068] Actuation of each of actuators 134 positioned about periphery 124 of plate 104 facilitates movement (e.g. reciprocation) of each of actuators 134 in a direction transverse to first actuator surface 125 of plate 104 and second actuation surface 137 of stator 130. Each of the plurality of actuators 134 has an actuating portion 135 that can radially extend towards first actuator surface 125 to deliver a force to plate 104. This movement (e.g. reciprocation) results in actuating portion 135 radially retracting from second actuator surface 137. Each of the plurality of actuators 134 can also radially extend towards second actuator surface 137 to deliver a force to stator 130. Correspondingly, this movement (e.g. reciprocation) results in actuating portion 135 radially retracting from first actuator surface 125. Each of actuators 134 has a travel defined as the displacement of actuating portion 135 from a first position (e.g. retracted position with respect to the first actuator surface 125) to a second position (e.g. extended position with respect to the first actuator surface 125). In one embodiment, the travel of each of actuators 134 is equal to twice the offset between axis X (e.g. shaft 102 or rotation point 106) and axis Y (e.g. center 120). Each actuator 134 is moveable between a retracted position with respect to the first actuator surface 125 and an extended position with respect to the first actuator surface 125 to an actuated position. Each actuator 134 has an extended state with respect to the first actuator surface 125 and a retracted state with respect to the first actuator surface 125 where actuating portion 135 is extended towards or retracted from a portion 29 of first actuator surface 125, respectively.

[0069] A force delivered by each of actuators 134 can be transferred to at least one of a portion 129 of first actuator surface 125 and a portion 139 of second actuator surface 137. When a force is delivered by each of actuators 134 to portion 129 of first actuator surface 125, the force is delivered in a direction transverse to first actuator surface 125. For example, as shown in Figure 7, a force exerted by an actuator 34 is delivered in a direction of reference line R (e.g. in a direction defined by an actuator transverse to first actuator surface 125 toward shaft 102 (e.g. rotation point 106 and axis X; see Figures 2 and 3)). Reference line R is a line that passes through an actuator 134 and rotation point 106. Each actuator 134 therefore has a respective reference line R. A position of center 120 with respect to reference line R is determined by measuring an angle between reference line R, rotation point 106 and center 120 in a counter-clockwise direction.

[0070] A force exerted by any one of actuators 134 in a direction of its respective portion 129 of first actuator surface 125 is directed towards axis X (e.g. towards shaft 102 or rotation point 106) along reference line R. By directing a force at axis X along reference line R rather than towards axis Y (e.g. center 120), a torque is generated in a direction from reference line R towards a side of plate 104 where center 120 is positioned. The torque is a force applied along a line of response that is directed off center with respect to geometric center 120 of plate 104. Applying a torque to plate 104 changes the angular momentum of (e.g. rotates) plate 104 about rotation point 106. The magnitude and direction of the torque depends on at least three factors: the magnitude of the applied force, a distance of the geometric center from reference line R when the force is applied in a direction of reference line R towards rotation point 106, and a distance between the rotation point 106 and the first actuator surface 125 that receives the force. In one embodiment, plate 104 is rigid so all parts of plate 104 rotate about axis X defined by shaft 102 in circular motion. Figures 3 and 4 show rotation of plate 104 about center 120 as shown by position of rotation point 106 with respect to center 120.

[0071] Conversely, a force exerted by any one of actuators 134 in a direction towards its respective portion 139 of second actuator surface 137 is directed away from axis X (e.g. away from shaft 102 or rotation point 106) along reference line R. By directing a force away from X along reference line R rather than towards axis Y (e.g. center 120), a torque is generated in a direction from reference line R towards a side of plate 104 away from center 120. Here, applying a torque to plate 104 changes the angular momentum of (e.g. rotates) plate 104 about rotation point 106. The magnitude and direction of the torque depends on at least three factors: the magnitude of the applied force, a distance of the geometric center from reference line R when the force is applied in a direction of reference line R towards rotation point 106, and a distance between the rotation point 106 and the first actuator surface 125 that receives the force. In one embodiment, plate 104 is rigid so all parts of plate 104 rotate about axis X defined by shaft 102 in circular motion. Figures 3 and 4 show rotation of plate 104 about center 120 as shown by position of rotation point 06 with respect to center 120.

[0072] When performing an actuating movement (e.g. reciprocation), each of actuators 134 contact at least one of portion 129 of first actuator surface 125 and portion 139 of second actuator surface 37 and applies a force in a direction transverse to at least one of first actuator surface 125 and second actuator surface 137, respectively.

[0073] In one example of rotation of plate 104 about rotation point 106, when center 120 is positioned adjacent and lateral to reference line R at an angle of 0-180 degrees from reference line R (measured from actuator 134 applying a force in a counterclockwise direction), a torque is generated in a counter-clockwise direction from reference line R about rotation point 106 when a force is received by plate 104 from portion 129 of first actuator surface 125 from at least one of actuators 134 in a direction towards axis X. A force received by portion 129 of first actuator surface 125 from at least one of actuators 134 in a direction towards axis X changes the angular displacement of portion 129 of first actuator surface 125 upon which each actuator applies a force, resulting in rotation of plate 104 (and shaft 102) in a counter-clockwise direction. For example, in Figure 7, a force applied by actuator B in a direction towards axis X along reference line R will facilitate rotation of plate 104 in a counter-clockwise direction. In this example, a corresponding force can be applied to a corresponding second actuator surface 137 from at least one of actuators 134, where a corresponding actuator 134 is positioned opposed to actuator 134 on an opposite side of plate 104. For example, as shown in Figure 7, Actuator D is a corresponding actuator to Actuator B when Actuator B applies a force to plate 104 along reference line R in the direction of axis X. Correspondingly, a force received by portion 139 of second actuator surface 137 from the corresponding actuator 134 in a direction away from axis X changes the angular displacement of portion 139 of second actuator surface 125 upon which the corresponding actuator applies a force, resulting in rotation of stator 130 (and consequently plate 104 and shaft 102) in a counter-clockwise direction. [0074] In another example of rotation of plate 104 about rotation point 106, when center 120 is positioned adjacent and lateral to reference line R at an angle of 180-360 degrees from reference line R (measured from actuator 134 applying a force in a counterclockwise direction), a torque is generated in a clockwise direction from reference line R about rotation point 106. The force received by plate 104 from each of actuators 134 in a direction towards axis X changes the angular displacement of portion 129 of actuator surface 125 upon which each actuator applies a force, resulting in rotation of plate 04 (and shaft 102) in a clockwise direction. For example, in Figure 7, a force applied by actuator D in a direction towards axis X along reference line R will facilitate rotation of plate 104 in a clockwise direction. In this example, a corresponding force can be applied by a corresponding actuator (e.g. Actuator B) to a corresponding second actuator surface 137. A force received by portion 139 of second actuator surface 137 from the corresponding actuator (e.g. Actuator B) in a direction away from axis X changes the angular displacement of portion 139 of second actuator surface 125 upon which the corresponding actuator applies a force, resulting in rotation of stator 130 (and consequently plate 104 and shaft 102) in a clockwise direction. In this way, each actuator 34 can be "double-acting" in that each actuator 34 can contribute to rotation of plate 104 (and stator 130) in both counter-clockwise and clockwise directions.

[0075] A force applied by each of actuators 134 to first actuator surface 125 of plate 104 is directed in a direction towards axis X (e.g. rotation point 106). As plate 104 rotates from a first position to a second position, center 120 may become aligned with reference line R between a respective actuator and axis X (e.g. rotation point 106) along a surface of plate 104. This alignment can either result from center 120 passing between the respective actuator 134 and axis X or passing through reference line R at a position distal to axis X with respect to respective actuator 134. For example, as plate 104 rotates from a first position to a second position, an angle between a respective actuator applying a force, rotation point 106 and center 120 may become either of 0 degrees or 180 degrees. In either of these instances, applying a force in a direction towards axis X and center 120 will not facilitate rotation of plate 104. As such, actuators 134 are positioned about plate 104 such that during rotation at least one of actuators 134 is off center with respect to center 120 of plate 104. At least one actuator is therefore able facilitate rotation of plate 104 (e.g. at least one actuator can direct a force towards rotation point 106 off center with respect to center 20 of plate 104).

[0076] The offset (e.g. the distance between axis X (e.g. axis of rotation) and axis Y (e.g. center 120)) impacts the magnitude of change in angular momentum of plate 04 resulting from a force exerted by each of actuators 134.

[0077] Actuating movements (e.g. reciprocation) of each of actuators 134 can be initiated and controlled by a control system 160. Actuation of each of actuators 134 can be by any known mechanism. In one embodiment, actuators 134 can be electroactive polymers that exhibit a change in size or shape when stimulated by an electric field. In another embodiment, actuators 134 can be pneumatic. In one embodiment, control system 160 can generate an electronic signal 162 that can be transmitted to each of actuators 134. Electronic signal 162 can cause a change of shape, for example, of an actuating portion 135 of each of actuators 134. In another embodiment, each of the plurality of actuators 134 is mechanically driven.

[0078] Each actuating portion 135 can have a travel, where travel refers to a displacement of actuating portion 134 from a first position, where an angle between reference line R (as shown in Figure 7) for each actuator, rotation point 106 and center 120 is 0 degrees, to a second position, where an angle between reference line R (as shown in Figure 7) for each actuator, the rotation point 106 and the center 120 is 180 degrees. In the energy converter 100, each of actuators 134 is positioned about plate 104 and has the same travel. An actuated position of each actuating portion 135 is determined by measuring the displacement of the actuating portion 135 from its first position. Each actuated position of each actuating portion 135 cooperates with each actuated position of each other actuating portion of each other respective actuator 134 to identify a unique position of the center 120 with respect to rotation point 106. The unique position of center 120 with respect to rotation point 106 can be expressed angularly as an angle a between two lines, a first line being reference line R and the second line being a line connecting rotation point 106 and center 120. A described above, each of actuators 134 are positioned about rotation point 106 and are directed at rotation point 106. In one embodiment, a ball bearing 170 can be positioned at an end of each of actuators 134.

[0079] Control system 160 controls (e.g. directs) actuation of each of actuators 134 disposed about shaft 102. Control is achieved by measuring an actuated position of each of actuating portions 135 of each of actuators 134 and directing movement (e.g. reciprocation) of each of actuating portions 135 in response thereto. Each actuated position of each of actuating portions 135 of each of actuators 134 cooperates with each other actuated position of each other actuating portion 135 of each other actuator 134 to form a set of actuated positions 180. Each set of actuated positions 180 corresponds to a unique angular location of center 120 with respect to rotation point 106 measured from reference line R. By measuring the actuated position (e.g. displacement) of each of actuating portions 135 of each of actuators 134, a control system 160 can determine the unique angular location of center 120 with respect to rotation point 106.

[0080] Determination of unique angular location of center 120 with respect to rotation point 106 is determined using an equation for the position (e.g. displacement) of each of actuating portions 135 of each of actuators 134 with respect to an angle of rotation, as follows:

[0081] When device 100 is operating as a motor, control system 160 drives movement (e.g. reciprocation) of each actuating portion 135 of each actuator 134 based on the unique angular location of center 120 with respect to rotation point 106. For example, control system 160 can use (e.g. lookup) the aforementioned equation to ascertain each unique angular location of center 120 with respect to rotation point 106. Control system 160 monitors the actuated position of each actuating portion 135 of each actuator 134 to ascertain the angular location of center 120 with respect to rotation point 106 and selects which actuating portions 135 of actuators 134 to drive, either in parallel or in series, to rotate plate 104 about rotation point 106. Control system 160 can drive actuating portions 135 of actuators 134, either in parallel or in series, to rotate plate 104 about rotation point 106 in either of a clockwise or counterclockwise direction. To rotate the plate in a counterclockwise direction, control system 160 drives actuation of the respective actuating portion 135 of actuator 134 whose respective reference line R forms an angle of 0-180 degrees (measured from actuator 134 applying a force in a counterclockwise direction) with a line connecting rotation point 106 and center 120. Actuation continues until the angle between the reference line R and the line connecting rotation point 106 and center 120 approaches 180 degrees. In one example, control system 160 selects to drive actuation of the respective actuating portion 135 of actuator 134 whose respective reference line R forms an angle closest to 90 degrees (measured from actuator 134 applying a force in a counterclockwise direction) with a line connecting rotation point 106 and center 120 when compared to the respective reference lines R of each of the plurality of actuators 134 to rotate the plate in a counterclockwise direction.

[0082] To rotate the plate in a clockwise direction, control system 160 drives actuation of the respective actuating portion 135 of actuator 134 whose respective reference line R forms an angle of 180-360 degrees (measured from actuator 134 applying a force in a counterclockwise direction) with a line connecting rotation point 106 and center 120. Actuation continues until the angle between the reference line R and the line connecting rotation point 106 and center 120 approaches 360 (or zero) degrees. In one example, control system 160 selects to drive actuation of the respective actuating portion 135 of actuator 134 whose respective reference line R forms an angle closest to 270 degrees (measured from actuator 134 applying a force in a counterclockwise direction) with a line connecting rotation point 106 and center 120 when compared to the respective reference lines R of each of the plurality of actuators 134 to rotate the plate in a clockwise direction.

[0083] When operating as a generator, control system 160 can monitor and identify a direction of rotation of plate 104 based on the unique angular location of center 120 with respect to rotation point 106 and process power output at each actuator that is reciprocating. [0084] In a third embodiment provided as energy converting device 800 and shown in Figure 8, plate 104 is removed and actuators 134 are positioned to actuate in a direction towards second actuator surface 137 of stator 130. As plate 104 has been removed, shaft 102 is coupled to stator 130 via connector 105. Therefore, when the energy converting device is operating as a motor, rotation of stator 130 provides rotation to shaft 102 via connector 105. Conversely, when the energy converting device is operating as a generator, rotation of shaft 102 provides rotation to stator 130 via connector 105. Further, in this embodiment, center 120 (not shown) is defined as the geometric center of the region bounded by second actuator surface 137 of stator 130, where the geometric center is understood to be the centroid of a two-dimensional region (i.e. the arithmetic mean or ("average") position of all the points in the shape).

[0085] In this embodiment, each of actuators 134 act on (e.g. directs a force towards) a portion 139 of second actuator surface 137 of stator 130. Actuators 34 are positioned about shaft 102 and are positioned to actuate in a direction away from (e.g. perpendicular to) axis X. Each of actuators 34 can be centered around shaft 102 (e.g. axis X or rotation point 106). Each of actuators 134 is positioned equidistant from shaft 102 (e.g. axis X or rotation point 106).

[0086] Actuation of each of actuators 134 positioned about shaft 102 facilitates movement (e.g. reciprocation) of each of actuators 134 in a direction transverse to second actuation surface 137 of stator 30. Actuation of each actuator 134 delivers a force to portion 139 of second actuator surface 137. When a force is delivered by each of actuators 134 to stator 130, the force is delivered in a direction transverse to first actuator surface 125.

[0087] Each body 136 of each actuator 134 is mounted to frame 190 to support each actuator 134. Each actuator 134 can either use power delivered by body 136 to actuate (i.e. reciprocate) actuating portion 135 or actuating portion 135 can be actuated (i.e. reciprocated) to generate power from the body 136.

[0088] In one example, each actuator 134 is hydraulic and comprises a piston (e.g. actuating portion 135) inside a hollow cylinder (e.g. body 136). When operating as a generator, force provided by actuating surface 137 is used by the body 136 to drive (e.g. reciprocate) actuating portion 135 against a hydraulic fluid to generate power. When operating as a motor, a hydraulic fluid drives actuating portion 135 against actuating surface 137 to use power and rotate plate 04.

[0089] In a second example, each actuator 134 is electric and comprises a ferromagnetic plunger (e.g. actuating portion 135) that is free to move (e.g. reciprocate) in and out of a coil (e.g. in body 136). When operating as a generator, force provided by actuating surface 137 drives (e.g. reciprocates) a ferromagnetic actuating portion 135 in and out of body 136 comprising an electrical coil to induce an electrical current in the coil. Conversely, actuating portion 135 can comprise an electrical coil and body 136 can comprise a magnet, whereby movement (e.g. reciprocation) of actuating portion 135 within the magnetized body 136 can also induce an electrical current in the coil. When operating as a motor, inducing and electrical current in body 136 comprising an electrical coil can drive (e.g. reciprocate) magnetic actuating portion 135 against actuating surface 137 to use power and rotate plate 104. Conversely, actuating portion

136 can drive actuating portion 135 (e.g. reciprocation) against actuating surface 137 to use power and rotate plate 104.

[0090] In one example of rotation of stator 130 about rotation point 106 in the embodiment shown in Figure 8, when center 120 is positioned adjacent and lateral to reference line R at an angle of 0-180 degrees from reference line R (measured as the angle between reference line R and a line connecting center 120 and rotation point 106 in a counterclockwise direction) and a force is applied along reference line R towards second actuator surface 137 of stator 130, a torque is generated in a clockwise direction from reference line R about rotation point 106. A force received by portion 139 of second actuator surface 137 from the corresponding actuator 134 in a direction away from axis X changes the angular displacement of portion 139 of second actuator surface 125 upon which the corresponding actuator applies a force, resulting in rotation of stator 130 (and consequently shaft 102) in a clockwise direction. [0091] Conversely, when center 120 is positioned adjacent and lateral to reference line R at an angle of 180-360 degrees from reference line R (measured as the angle between reference line R and a line connecting center 120 and rotation point 106 in a counterclockwise direction) and a force is applied along reference line R towards second actuator surface 137 of stator 130, a torque is generated in a counterclockwise direction from reference line R about rotation point 106. A force received by portion 139 of second actuator surface 137 from the corresponding actuator 134 in a direction away from axis X changes the angular displacement of portion 139 of second actuator surface 125 upon which the corresponding actuator applies a force, resulting in rotation of stator 30 (and consequently shaft 102) in a counterclockwise direction.

[0092] Control system 160 controls (e.g. directs) actuation of each of actuators 134 disposed about shaft 102. Control is achieved by measuring an actuated position of each of actuating portions 135 of each of actuators 134 and directing movement (e.g. reciprocation) of each of actuating portions 135 in response thereto. Each actuated position of each of actuating portions 135 of each of actuators 134 cooperates with each other actuated position of each other actuating portion 135 of each other actuator 134 to form a set of actuated positions 180. Each set of actuated positions 180 corresponds to a unique angular location of center 120 with respect to rotation point 106 measured from reference line R. By measuring the actuated position (e.g. displacement) of each of actuating portions 135 of each of actuators 134, a control system 160 can determine the unique angular location of center 120 with respect to rotation point 106.

[0093] Determination of unique angular location of center 120 with respect to rotation point 106 is determined using an equation for the position (e.g. displacement) of each of actuating portions 135 of each of actuators 134 with respect to an angle of rotation, as follows:

(-cos(x) ^* d) + d where x = angle of rotation of the plate d = offset of the center of the plate from the center of rotation (e.g. rotation point). [0094] In this embodiment, when device 100 is operating as a motor, control system 160 drives movement (e.g. reciprocation) of each actuating portion 135 of each actuator

134 based on the unique angular location of center 120 with respect to rotation point 106. For example, control system 160 can use (e.g. lookup) the aforementioned equation to ascertain each unique angular location of center 120 with respect to rotation point 106. Control system 160 monitors the actuated position of each actuating portion

135 of each actuator 134 to ascertain the angular location of center 120 with respect to rotation point 106 and selects which actuating portions 135 of actuators 134 to drive, either in parallel or in series, to rotate plate 104 about rotation point 106. Control system 160 can drive actuating portions 135 of actuators 134, either in parallel or in series, to rotate plate 104 about rotation point 106 in either of a clockwise or counterclockwise direction. In this embodiment, to rotate the plate in a counterclockwise direction, control system 160 drives actuation of the respective actuating portion 135 of actuator 134 whose respective reference line R forms an angle of 180-360 degrees (measured from actuator 134 applying a force in a counterclockwise direction) with a line connecting rotation point 106 and center 120. Actuation can continue until the angle between the reference line R and the line connecting rotation point 106 and center 120 approaches 360 (or zero) degrees. In one example, control system 160 selects to drive actuation of the respective actuating portion 135 of actuator 134 whose respective reference line R forms an angle closest to 270 degrees (measured from actuator 134 applying a force in a counterclockwise direction) with a line connecting rotation point 106 and center 120 when compared to the respective reference lines R of each of the plurality of actuators 134 to rotate the plate in a counterclockwise direction.

[0095] To rotate the plate in a clockwise direction, control system 160 drives actuation of the respective actuating portion 135 of actuator 134 whose respective reference line R forms an angle of 0-180 degrees (measured from actuator 134 applying a force in a counterclockwise direction) with a line connecting rotation point 106 and center 120. Actuation continues until the angle between the reference line R and the line connecting rotation point 106 and center 120 approaches 180 degrees. In one example, control system 160 selects to drive actuation of the respective actuating portion 135 of actuator 134 whose respective reference line R forms an angle closest to 90 degrees (measured from actuator 134 applying a force in a counterclockwise direction) with a line connecting rotation point 106 and center 120 when compared to the respective reference lines R of each of the plurality of actuators 134 to rotate the plate in a clockwise direction.

[0096] When operating as a generator, control system 160 can monitor and identify a direction of rotation of plate 104 based on the unique angular location of center 120 with respect to rotation point 106 and process power output at each actuator that is reciprocating..

[0097] Any number of actuators 134 can be provided to the energy converting device described. In the three embodiments provided herein, the number of actuators acting on the plate 104 ranges from 3 to 9. In one embodiment shown in Figure 1 , six actuators 134 are provided. In one embodiment shown in Figure 2, nine actuators 134 are provided. Further, at any time at least one actuator 134 directed off center with respect to center 120 of plate 104 (or of stator 130 in the third embodiment provided herein) to ensure that during rotation at least one actuator 134 can provide for rotation of plate 04 and/or stator 130, as appropriate.

[0098] Figure 9 shows the angle between each actuator (for an embodiment of three actuators), the rotation point 106 and the center 120 at each angular displacement (measured in degrees) of plate 104 in an energy converting device as described herein.

[0099] Figure 10 shows linear displacement (measured in millimeters) of each actuator (of three actuators) versus angular displacement (e.g. rotation) of the plate 104 (measured in degrees) in an energy converting device as described herein with three actuators. In this exemplary embodiment, the offset of plate 104 is 3mm and each actuator has a travel of 6mm.

[00100] Figure 1 1 shows two graphs of linear displacement versus time for an energy converting device as described herein with six actuators.

[00101] Figure 12 shows a third graph of linear displacement versus time for an energy converter device as described herein with six actuators. [00102] Figure 13 shows a fourth embodiment of energy converting device 1300 at a first position. Energy converting device 1300 comprises a second plate 204 coupled to a second rotor 202. Second plate 204 is also coupled to stator 130 by couple 1302. When energy converting device 1300 is acting as a motor, actuation of actuators 134 facilitates rotation of both plate 104 (and therefore shaft 102) and second plate 204 (and therefore second shaft 204) via couple 1302. When energy converting device 1300 is acting as a generator, rotation of both shaft 102 and second shaft 204 delivers a force to actuators 134 via couple 1302 for conversion. Figure 14 shows an embodiment of an energy converting device 1300 at a second position.

[00103] The present invention is described in the preceding Examples, which are set forth to aid in the understanding of the invention, and should not be construed to limit in any way the scope of the invention as defined in the claims which follow thereafter.

[00104] While the foregoing invention has been described in some detail for purposes of clarity and understanding, it will be appreciated by one skilled in the art, from a reading of the disclosure, that various changes in form and detail can be made without departing from the true scope of the invention in the appended claims.

[00105] All publications, patents, and patent applications are herein incorporated by reference in their entirety to the same extent as if each individual publication, patent or patent application was specifically and individually indicated to be incorporated by reference in its entirety.

Claims

CLAIMS What is claimed is:

1. A motor comprising: a plate; a shaft coupled to the plate at a rotation point such that a geometric center of the plate is offset from the rotation point; at least three actuators arranged about a first actuator surface of the plate, each of the actuators directed towards the shaft such that actuation of each of the actuators towards the first actuator surface of the plate delivers a force to the plate to facilitate rotation of the plate about the rotation point to induce reciprocation of said each of the actuators to generate power from said reciprocation; and a control system to drive an actuated position of each actuator, each actuated position of each actuator cooperating with a respective actuated position of each other actuator to correspond to an angular position of the center of the plate with respect to the rotation point.

2. A generator comprising: a plate; a shaft coupled to the plate at a rotation point such that a geometric center of the plate is offset from the rotation point such that rotation of the shaft facilitates rotation of the plate; at least three actuators arranged about a first actuator surface of the plate, each of the actuators directed towards the shaft such that each of the actuators receives a force from the plate upon rotation of the shaft; and a control system to monitor an actuated position of each actuator, each actuated position of each actuator cooperating with a respective actuated position of each other actuator to correspond to an angular position of the center of the plate with respect to the rotation point.

3. A motor comprising: a plate; a shaft coupled to the plate at a rotation point such that a geometric center of the plate is offset from the rotation point; at least three actuators arranged about a first actuator surface of the plate, each of the actuators directed towards the shaft such that actuation of each of the actuators towards the first actuator surface of the plate delivers a force to the plate to facilitate rotation of the plate about the rotation point to induce reciprocation of said each of the actuators to generate power from said reciprocation; a stator positioned about the at least three actuators and coupled to the plate, the stator providing a second actuator surface such that actuation of each of the actuators towards the second actuator surface facilitates rotation of the plate; and a control system to drive an actuated position of each actuator, each actuated position of each actuator cooperating with a respective actuated position of each other actuator to correspond to an angular position of the center of the plate with respect to the rotation point.

4. A generator comprising: a plate;

a shaft coupled to the plate at a rotation point such that a geometric center of the plate is offset from the rotation point such that rotation of the shaft facilitates rotation of the plate; at least three actuators arranged about a first actuator surface of the plate, each of the actuators directed towards the shaft such that each of the actuators receives a force from the plate upon rotation of the plate; a stator positioned about the at least three actuators and coupled to the plate, the stator providing a second actuator surface such that each of the actuators receives a force from the stator upon rotation of the shaft; and a control system to monitor an actuated position of each actuator, each actuated position of each actuator cooperating with a respective actuated position of each other actuator to correspond to an angular position of the center of the plate with respect to the rotation point.

5. A motor comprising: a stator; a shaft coupled to the stator by a connector, the shaft rotatable about a rotation point such that a geometric center of the stator is offset from the rotation point; at least three actuators positioned between the stator and the shaft, each of the actuators directed away from the shaft such that actuation of each of the actuators towards a first actuator surface of the stator delivers a force to the stator to facilitate rotation of the stator about the rotation point to induce reciprocation of said each of the actuators to generate power from said reciprocation; and a control system to drive an actuated position of each actuator, each actuated position of each actuator cooperating with a respective actuated position of each other actuator to correspond to an angular position of the center of the stator with respect to the rotation point.

6. A generator comprising: a stator; a shaft coupled to the stator by a connector, the shaft providing a rotation point such that a geometric center of the stator is offset from the rotation point; at least three actuators arranged about a first actuator surface of the stator, each of the actuators directed away from the shaft such that each of the actuators receives a force from the stator upon rotation of the shaft; and a control system to monitor an actuated position of each actuator, each actuated position of each actuator cooperating with a respective actuated position of each other actuator to correspond to an angular position of the center of the stator with respect to the rotation point.