System and method for performing wobble reduction in a galvanometer

Abstract

The disclosed limited rotation motor system includes a stator within a housing, a rotor rotatably coupled within the stator by a first bearing system at a proximal end and a second bearing system at a distal end, the first and second bearing systems each coupled to the rotor on its inner side and to the housing on its outer side, a compression system applying a compressive force between the first and second bearing systems along the axial direction, and a damping system adjacent to either the first or second bearing system, which absorbs the diverging force diverging in the axial direction resulting from the compressive force.

Description

[Technical Field]

[0001] This application claims priority to U.S. Provisional Patent Application No. 63 / 416,106, filed October 14, 2022, the disclosure of which is incorporated herein by reference in its entirety.

[0002] The present invention relates generally to motor systems, and more particularly to limited rotation motor systems. [Background technology]

[0003] One application in which finite rotation motor systems (e.g., galvanometer systems) can be used is galvanometer optical scanners. Galvanometer optical scanners were invented in the 19th century. For many years, their use was mostly limited to scientific applications. Since the invention of the laser, they have increasingly been used in a larger number of industrial, scientific, medical, and industrial applications.

[0004] Many of these applications require optical scanners to operate at ever-increasing speeds and accuracy, thus meeting superior throughput and performance requirements. To meet these increasingly stringent requirements, materials of construction have been selected to enable these scanners to operate at higher speeds and with higher performance. Typically, materials have been selected to be lighter and stronger. This increases the resonant frequency, which may be higher than the application is likely to easily excite. As the throughput demands of optical scanners continue to increase, faster scanning systems have been created that either directly drive the product at or near its resonant frequency, or operate at fractional increments (i.e., harmonics) of its resonant frequency, making them more susceptible to excitation at their natural resonant frequency. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] US Patent Application Publication No. 2008 / 180775 [Patent Document 2] Chinese Utility Model No. 205829434 Summary of the Invention [Problem to be solved by the invention]

[0006] When excited at resonant frequencies, optical scanners can move their scanning spot outside the desired range of controlled axial motion. This unwanted motion is called wobble, referring to its cross-axial oscillatory vibration.

[0007] Optical scanner applications continue to demand higher performance at ever-increasing speeds. To meet these demands, wobble must be controlled and reduced to an acceptable level or eliminated entirely. For many optical scanner users, this is essential to being able to successfully build and use optical scanning systems and remain competitive in the marketplace. A need remains for further wobble reduction in galvanometer-based optical systems. [Means for solving the problem]

[0008] According to one aspect of the present invention, there is provided a limited rotation motor system comprising: a stator within a housing; a rotor rotatably coupled within the stator by a first bearing system at a proximal end and a second bearing system at a distal end, each of the first and second bearing systems coupled to the rotor on its inner side and to the housing on its outer side; a compression system applying a compressive force between the first and second bearing systems along the axial direction; and a damping system adjacent to either the first or second bearing system, which absorbs divergent forces resulting from the compressive force and diverging in the axial direction.

[0009] In accordance with another aspect of the present invention, there is provided a limited rotation motor system comprising: a stator within a housing; a rotor rotatably coupled within the stator by a first bearing system at a proximal end and a second bearing system at a distal end, each of the first and second bearing systems coupled to the rotor on its inner side and to the housing on its outer side; a compression system applying a compressive force between the first and second bearing systems along the axial direction; and a damping system between the rotor and the housing, such that diverging forces resulting from the compressive force and diverging in the axial direction are absorbed by the damping system.

[0010] In accordance with a further aspect of the present invention, there is provided a method of operating a limited rotation motor, comprising providing a stator within a housing, providing a rotor rotatably coupled within the stator by a first bearing system at a proximal end and a second bearing system at a distal end, the first bearing system and the second bearing system being coupled to the rotor at an inner side thereof and the housing at an outer side thereof, applying a compressive force between the first and second bearing systems along an axial direction, and damping diverging forces resulting from the compressive force by absorbing the diverging forces with an elastomeric member between the rotor and the housing.

[0011] The following description will be better understood with reference to the accompanying drawings, in which: [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is an illustrative diagrammatic view of a limited rotation motor system according to one aspect of the present invention. [Figure 2] FIG. 2 is an illustrative, close-up diagrammatic view of the proximal end of the system of FIG. 1. [Figure 3] FIG. 2 is an illustrative, close-up diagrammatic view of the distal end of the system of FIG. 1. [Figure 4] FIG. 2 is an illustrative diagrammatic view of the forces applied in the system of FIG. 1. [Figure 5] FIG. 1 is an illustrative, close-up diagrammatic view of the distal end of a system having an axial compression O-ring according to one embodiment of the present invention. [Figure 6] 1 is an illustrative, close-up diagrammatic view of a distal end of a system having an L-shaped cross-sectional elastomeric material according to one embodiment of the present invention. FIG. [Figure 7] 1 is an illustrative, close-up diagrammatic view of the distal end of a system in which an L-shaped cross-sectional elastomeric material is disposed outside the bearing system in accordance with one aspect of the present invention; FIG. [Figure 8] FIG. 1 is an illustrative, close-up diagrammatic view of a distal end of a system having a thrust washer and a plurality of O-rings in accordance with one aspect of the present invention. [Figure 9] 1 is an illustrative, close-up diagrammatic view of the distal end of a bearing system having an annular elastomeric material bonded to the inner surface of the inner race of the system in accordance with one aspect of the present invention; FIG. [Figure 10] 1 is an illustrative, close-up diagrammatic view of the distal end of a bearing system having an annular elastomeric material bonded to the outer surface of the inner race of the system in accordance with one aspect of the present invention; FIG. DETAILED DESCRIPTION OF THE INVENTION

[0013] The drawings are shown for illustrative purposes only.

[0014] Galvanometer optical scanner designs consist of a stationary member and a rotating member. The rotating member is held within the stationary member by a low-friction pivot mechanism, thus restricting its motion to along the desired pivot axis. Due to the stiffness of commonly used materials, this system can have significant mechanical resonant frequencies. These resonances can be excited by the expected motion of the rotating member. If left undamped, these resonant vibrations can cause unwanted motion outside the expected plane of motion. By properly using materials with vibration damping properties in the construction of optical scanning systems, scanning systems can be constructed that can dramatically reduce these vibrations to a level that will not degrade the system's intended accuracy performance. The design goal of this system is to reduce or eliminate unwanted cross-axis resonant motion in galvanometer optical scanners to the point where the system's intended accuracy is no longer degraded.

[0015] A magnetically driven optical scanner consists of a rotating element enclosed within a housing, in the illustrated example precisely held and constrained using face-to-face ball bearing preloads to provide a precisely controlled axial rotational motion.

[0016] The preload force is generated by compressing a spring against the outer race of the rear ball bearing. The angled interface between the bearing raceways and the spherical balls contained within them resolves the axial force into axial and radial components. Compression of the balls transfers some of the radial force into the edges of the raceways, eliminating "slop" in the ball bearing structure and accommodating internal mechanical clearances. When the rotor also runs through a second ball bearing, mirror-imaged to the first, the axial force is transferred longitudinally.

[0017] For example, Figure 1 shows a limited rotation motor system 10 according to one embodiment of the present invention, with a rotor 12 within a stator 14, which is inside a housing 16. The rotor has a magnet 18 contained between a proximal end cap 20 at a proximal end 24 and a distal end cap 22 at a distal end 26. A tool, such as a speculum 28, is coupled to the distal end cap 26.

[0018] 2 (showing a close-up view of the proximal end) and 3 (showing a close-up view of the distal end), each end cap is coupled to the housing 16 via one of a proximal bearing system 36 and a distal bearing system 38. At the proximal end 24, a compression spring 30 is retained by a closure plate 34, which applies a compressive force against a retaining ring 32 at the distal end. At the distal end, the axial force, i.e., the force propagating into the distal end of the distal bearing system 38, is blocked by the retaining ring 32 retained within the housing 16. This is an optical scanner design constructed using two deep-groove radial ball bearings, which are preloaded in a "face-to-face" arrangement. Typically, all materials used within this compression stack are rigid and solid.

[0019] This construction technique typically produces an optical scanning system with two major, solid components: a rotating element 12 and a stationary element 14 (e.g., a group of tightly wound conductive windings). The resonant frequencies of each of these assemblies are determined by the geometric layout, materials, and constraints of the structure. It is usually desirable for these resonant frequencies to be higher than those likely to be encountered during operation of the product. However, in some circumstances, it may be difficult to avoid exciting these resonances by designing the scanner's operation.

[0020] Such resonant frequency oscillations can cause the scanning system to vibrate and move away from the desired single axis of rotation. In the optical scanning business, this unwanted motion is colloquially known as wobble. The mirror elements of an optical scanner are intended to rotate purely about the scanner's axis of rotation, such that the resulting angular position changes describe a straight line in a single plane of motion. When the mirror / shaft assembly vibrates at or near its resonant frequency, the flat mirror can vibrate in a cantilever mode at that frequency, causing the scanned area of ​​the optical field to be positioned at a location other than the desired vertical spot in the rotation plane. In a cross-sectional side view of the mirror, this motion would appear similar to the flexing of a diving board beneath a swimmer about to jump off it. This unwanted up-and-down motion in an optical scanner system is known as wobble. If this uncontrolled motion is undesirable for system performance, it must be mitigated.

[0021] 2, proximal end 24 further includes a compliant thrust washer 40 between proximal bearing system 36 and proximal end cap 20, and one or more compliant O-rings 42 also between proximal bearing system 36 and proximal end cap 20. Similarly, referring again to FIG. 3, distal end 24 further includes a compliant thrust washer 44 between distal bearing system 38 and distal end cap 22, and one or more compliant O-rings 46 also between distal bearing system 38 and distal end cap 22.

[0022] The addition of the aforementioned compliant material to the preload force stack reduces the excitation of rotating member resonance. The preload force is transmitted through compliant thrust washers 40, 44, tracing its path from the shaft assembly into the inner race of the front ball bearing, as shown in close-up views in Figures 2 (proximal end view) and 3 (distal end view). A compliant radial member (O-ring) is added between the shaft assembly 12 and the bearing system's inner diameter. A slightly compressed O-ring is used in this example to keep the front diameter of the shaft assembly centered within the bearing's inner diameter during rotation. Providing clearance between the bearing's solid surface and the shaft allows radial resonance vibrations to be attenuated by microscopic motion at the interface and absorbed by the compliant material properties of the O-rings 42, 46 rather than through rigid shaft-to-bearing contact. Silicone may also be selected as a good material for use in the compliant thrust washers 40, 44 and for the radial compression O-rings 42, 46. The O-rings 42, 46 may be kept under radial pressure within the limited rotation motor system 10.

[0023] The compliant thrust washers 40, 44 of Figures 2 and 3 each abut a shoulder (41, 45, respectively) on the end caps 20, 22. The shoulders 41, 45 are located axially, but in the central region of the end caps, i.e., the region of the compression force (F c ) is provided. FIG. 3 shows a schematic view of the distal end of the system 10, showing the compression thrust washers 40, 44 and compression O-rings 42, 46 (three of each) located between the rotor 12 and the housing 16, inside the bearing systems 36, 38. Thus, the divergent forces are at least partially absorbed by the compliant thrust washers 40, 44, while the axial compression in that force stack remains intact. Similarly, the O-rings 42, 46 are positioned in the central region of the end cap, i.e., where the compression forces (F c) is provided. Thus, the divergence forces are at least partially absorbed by the compression O-rings 42, 46 while still maintaining axial compression in the force stack.

[0024] As shown in FIG. 4, the compression force (F) of the compression spring 30 against the retaining ring (shown as 32 in FIG. 3) c ) causes the divergence force (F d These divergent forces are absorbed by the compression system of the present invention, which in one embodiment includes a compliant force washer and a compliant radial member, such as an O-ring.

[0025] The increased O-ring features are intended to reduce vibration through the use of more O-rings 42, 46 and bearing-to-shaft diameter clearance, without adversely affecting the compression stiffness of the system in the axial direction. The addition of this compliant material brings micro-vibrations of the rotating shaft assembly to a point where they can be absorbed. By absorbing these vibrations with a damping material, the resonant vibration amplitude can be reduced to an acceptable level or eliminated.

[0026] FIG. 5 shows the distal end 27 of a limited rotation motor system according to a further embodiment of the present invention, with an axial compression O-ring 45 replacing the thrust washer (as in the system of FIGS. 1-3). This limited rotation motor system also includes a rotor 12 and a stator 14 within a housing 16. The rotor includes a magnet 18 encased between the proximal and distal end caps (distal end cap 22 shown), on which a mirror 28 is mounted. The O-ring 46 acts to compress the force (F) of the end caps. c) is radially offset from the central region where the force stack 22 is located. O-rings 45, 46 are disposed on the inner surface of bearing system 38. Thus, again, the divergence forces are at least partially absorbed by compression O-ring 46, while the axial compression of the force stack remains intact. O-ring 46 is compressible and can be provided as one, two, or three (as shown) O-rings. Compression O-ring 45 mounts against axial shoulder 61 of distal end cap 22.

[0027] Here again, the shoulder 61 is provided along the axial direction, but the compressive force (F c ) is radially offset from the central region where the force stack is provided. Thus, the divergence forces are at least partially absorbed by the axial compression O-ring 45 while the axial compression in the force stack remains intact.

[0028] Any number of compression O-rings can be used, such as one, two, or three O-rings (as shown) at each end of the limited rotation motor system. Additionally, the O-rings in FIGS. 1-4 are shown adjacent to the inner races of the bearing systems 36, 38 that contact the end caps 20, 22. According to further embodiments, O-rings can be positioned radially outward to be adjacent to the outer races of the bearing systems that contact the housing 16 (as described below with reference to FIG. 8). The proximal end of the limited rotation motor system can similarly have a radial O-ring (e.g., 46) and an axial compression O-ring (e.g., 45) that contacts a shoulder on the proximal end cap.

[0029] FIG. 6 shows a further embodiment of the distal end 29 of a limited rotation motor system, which includes an L-section elastomeric material 47 in place of the thrust washer and axial O-ring (as in the systems of FIGS. 1-4). As shown in FIG. 6, the L-section elastomeric material 47 is inside the bearing and abuts the shaft. This feature could be a molded part installed between the shaft and bearing as shown, or formed in situ, or an overmolded feature on the shaft surface. This limited rotation motor system also includes a rotor 12 and a stator 14 within a housing 16. The rotor includes a magnet 18 housed between the proximal and distal end caps (distal end cap 22 is shown), to which a mirror 28 is attached. The L-section elastomeric material acts to compress the end caps (F c ) is radially offset from the central region where the compression force (F ) is exerted. Thus, again, the axial compression of the force stack is not compromised and the divergence forces are again at least partially absorbed by the L-section elastomeric material 47, thereby providing axial and radial absorption. The L-section mounts against the axial shoulder 63 of the distal end cap 22. The shoulder 63 is located axially, but is also located at a location in the end cap 22 where the compression force (F ) is exerted. c ) is radially offset from the central region where the force stack 44 is provided. The L-section shaped elastomeric material is disposed on the inner surface of the bearing system 38. Thus, the divergence forces are at least partially absorbed by the L-section shaped material 47 without compromising the axial compression of the force stack. The proximal end of the limited rotation motor system may similarly have an L-section shaped elastomeric material (e.g., 47) abutting a shoulder on the proximal end cap.

[0030] 7 shows a further embodiment of the distal end 31 of a limited rotation motor system, which includes an L-section shaped elastomeric material 49 disposed on the outer surface of the bearing system 38 with its short side distal to the bearing system 38. This limited rotation motor system also includes a rotor 12 and a stator 14 within a housing 16. The rotor includes a magnet 18 housed between the proximal and distal end caps (distal end cap 22 is shown), and a mirror 28 is mounted thereon. The L-section shaped elastomeric material 49 acts as a compressive force (F) between the end caps. c ) is provided in a central region radially offset (which may be on the outside of the bearing system).

[0031] Thus, here too, the divergent forces are at least partially absorbed by the L-profile elastomeric material 49, thereby providing both axial and radial absorption, while the axial compression of the force stack remains intact. That is, the divergent forces are at least partially absorbed by the L-profile elastomeric material 49, while the axial compression of the force stack remains intact. The proximal end of the limited rotation motor system may similarly have an L-profile elastomeric material (e.g., 49) mounted thereto. The L-profile elastomeric material 49 in FIG. 7 is positioned outside the bearing and abuts the housing 16. This feature could be a molded part mounted between the shaft and bearing as shown, or formed in situ, or an overmolded feature on the shaft surface.

[0032] FIG. 8 shows a further embodiment of a distal end 33 of a limited rotation motor system, including a thrust washer 51 mounted against the axially distal end of a bearing system 38, as well as one or more (e.g., one, two, or three) O-rings 53 (e.g., circular or polygonal cross-sectional shapes) mounted on the outer race of the bearing system 38. Both the thrust washer 51 and the O-ring 53 are disposed on the outer surface of the bearing system 38. Specifically, the thrust washer 51 is disposed between the sidewall of the outer race of the bearing and the retaining ring 32. This limited rotation motor system also includes a rotor 12 and a stator 14 within a housing 16. The rotor includes a magnet 18 positioned between the proximal and distal end caps (distal end cap 22 is shown), and a mirror 28 is mounted thereon. The O-ring 53 acts to compress the end caps (F c ) is provided radially (may be outside the bearing system). Thus, here too, the divergence forces are again at least partially absorbed by the elastomeric material 51 and O-ring 53 without compromising the axial compression of the force stack, thereby providing axial and radial absorption. That is, the divergence forces are at least partially absorbed by the material 51 and O-ring 53 without compromising the axial compression of the force stack. The proximal end of the limited rotation motor system may similarly have an L-section shaped elastomeric material (e.g., 1) and O-ring 53 mounted in a similar manner.

[0033] The positions of the compression thrust washers and compression O-rings have been moved to the outside of the bearing. In this limited rotation motor system, the rotor 18 is within the stator 14, which is inside the housing 16. Again, this system has compliant thrust washers and compression O-rings (e.g., three of each) between the rotor end caps and the housing outside of the bearing system. The axially diverging force (F d) are similarly absorbed by the compliant thrust washers as well as one or more compliant radial members, such as compliant O-rings.

[0034] FIG. 9 shows a further embodiment of the distal end 35 of a limited rotation motor system, including an annular elastomeric material 55 bonded to the inner surface of the inner race of the bearing system. The bond can be made, for example, with a silicone room temperature vulcanizing (RTV) adhesive. This limited rotation motor system also includes a rotor 12 and a stator 14 within a housing 16. The rotor includes a magnet 18, which is mounted on a mirror 28, encased between the proximal and distal end caps (distal end cap 22 is shown). The elastomeric material 55 acts to compress the end caps (F c ) is provided. Thus, again, the axial compression of the force stack is intact and the divergence forces are again at least partially absorbed by the elastomeric material 55, thereby providing axial and radial absorption. Again, the elastomeric material 55 is mounted against an axial shoulder 65 of the distal end cap 22. Again, shoulder 65 is provided axially, but at a location in the end cap 22 where the compression force (F c ) is radially offset from the central region where the force stack is compressed. The elastomeric material is disposed on the inner surface of the bearing system 38. Thus, the divergence forces are at least partially absorbed by the elastomeric material 55 while the axial compression of the force stack is intact. The proximal end of the limited rotation motor system may similarly have an elastomeric material (e.g., 55) abutting a shoulder on the proximal end cap and bonded to the proximal bearing system.

[0035] Elastomeric material 55 is bonded between the inner race of the bearing and the shaft. The area near shoulder 65 is free of elastomer (in compression) to absorb axial forces. Material 55 is bonded to both the inner race of the bearing and the outer surface of the shaft. The bond strength of this material should be strong enough to withstand the shear forces of the axial preload force.

[0036] FIG. 10 shows a further embodiment of the distal end 37 of a limited rotation motor system, including an annular elastomeric material 57 bonded to the outer surface of the inner race of the bearing system. The bond can be made, for example, with a silicone room temperature vulcanizing (RTV) adhesive. This limited rotation motor system also includes a rotor 12 and a stator 14 within a housing 16. The rotor includes a magnet 18, which is mounted on a mirror 28, encased between the proximal and distal end caps (distal end cap 22 is shown). The elastomeric material 57 acts to compress the end caps (F c ) is radially offset from the central region where the force stack is compressed. Thus, here too, the divergence forces are again at least partially absorbed by elastomeric material 57 without compromising axial compression of the force stack, thereby providing both axial and radial absorption. That is, the divergence forces are at least partially absorbed by elastomeric material 57 without compromising axial compression of the force stack. The proximal end of the limited rotation motor system can similarly have an elastomeric material (e.g., similar to 57) mounted thereto.

[0037] While a retaining ring (again of circular or polygonal cross-section) may be used in the above systems, a retaining ring is not required in systems having an in-situ bonded annular elastomeric material. Referring again to Figures 1-4, limited rotation motor systems according to various aspects of the present invention may have any combination of the above-listed damping elements as part of the dynamic damping system, such as various combinations of O-rings (axial and radial), thrust washers, L-shaped cross-section shaped material, and annular elastomeric material mounted radially inward or outward at the proximal and distal ends.

[0038] Additionally, each of the elastomeric features discussed above can be disposed at either or both of the proximal and distal ends of a limited rotation motor system according to various aspects of the present invention, and can be molded parts mounted or formed in situ between the shaft and bearing, or overmolded features on the surface of the shaft or on the interior surface of the housing.

[0039] The claims are as follows:

Claims

1. 1. A finite rotation motor system, comprising: a stator located within the housing; a rotor rotatably coupled within the stator by a first bearing system at a proximal end and a second bearing system at a distal end, the first bearing system and the second bearing system each coupled to the rotor on its inner side and to the housing on its outer side; a compression system that applies a compressive force between the first bearing system and the second bearing system along an axial direction; a damping system adjacent to either the first bearing system or the second bearing system, the damping system configured to absorb a divergence force generated from the compressive force and diverging in the axial direction; A finite rotation motor system comprising:

2. 2. The finite rotation motor system of claim 1, wherein the damping system includes an elastomeric washer disposed between the rotor and one of the first bearing system and the second bearing system.

3. 3. The finite rotation motor system of claim 2, wherein the elastomeric washer is disposed between a shoulder on the rotor and an inner race of one of the first bearing system and the second bearing system.

4. 2. The finite rotation motor system of claim 1, wherein the damping system includes an elastomeric washer disposed between the housing and either the first bearing system or the second bearing system.

5. 2. The finite rotation motor system of claim 1, wherein the damping system comprises at least one O-ring disposed between the rotor and either the first bearing system or the second bearing system.

6. 6. The finite rotation motor system of claim 5, wherein said at least one O-ring is in compression.

7. 2. The finite rotation motor system of claim 1, wherein the damping system comprises at least one O-ring disposed between the housing and either the first bearing system or the second bearing system.

8. 2. The finite rotation motor system of claim 1, wherein the damping system comprises a plurality of O-rings adjacent one of the first bearing system and the second bearing system.

9. 2. The finite rotation motor system of claim 1, wherein the damping system comprises an L-shaped cross-sectional elastomeric material disposed between the rotor and either the first bearing system or the second bearing system.

10. 2. The finite rotation motor system of claim 1, wherein the damping system comprises an L-shaped cross-sectional elastomeric material disposed between the housing and either the first bearing system or the second bearing system.

11. 2. The finite rotation motor system of claim 1, wherein the damping system comprises an annular elastomeric material disposed between the rotor and one of the first bearing system and the second bearing system.

12. 2. The finite rotation motor system of claim 1, wherein the damping system comprises an annular elastomeric material disposed between the housing and one of the first bearing system and the second bearing system.

13. 2. The finite rotation motor system of claim 1, wherein the compressive force is provided by a spring opposing a retaining ring.

14. 14. The finite rotation motor system of claim 13, wherein the spring providing the compressive force opposes the retaining ring at the distal end of the first bearing system and abutting the second bearing system.

15. 10. The finite rotation motor system of claim 1, wherein the damping system comprises an elastomeric material, the elastomeric material being either a molded component mounted or formed in situ, or an overmolded feature on the surface of another component of the system.

16. 1. A finite rotation motor system, comprising: a stator located within the housing; a rotor rotatably coupled within the stator by a first bearing system at a proximal end and a second bearing system at a distal end, the first bearing system and the second bearing system each coupled to the rotor on its inner side and to the housing on its outer side; a compression system that applies a compressive force between the first bearing system and the second bearing system along an axial direction; a damping system between the rotor and the housing, the damping system configured to absorb a divergence force generated from the compression force and diverging in the axial direction; A finite rotation motor system comprising:

17. 17. The finite rotation motor system of claim 16, wherein the damping system includes an elastomeric washer disposed between the rotor and one of the first bearing system and the second bearing system.

18. 18. The finite rotation motor system of claim 17, wherein the elastomeric washer is disposed between a shoulder on the rotor and an inner race of one of the first bearing system and the second bearing system.

19. 17. The finite rotation motor system of claim 16, wherein the damping system includes an elastomeric washer disposed between the housing and one of the first bearing system and the second bearing system.

20. 17. The finite rotation motor system of claim 16, wherein the damping system comprises at least one O-ring disposed between the rotor and one of the first bearing system and the second bearing system.

21. 21. The finite rotation motor system of claim 20, wherein the at least one O-ring is in compression.

22. 17. The finite rotation motor system of claim 16, wherein the damping system includes at least one O-ring disposed between the housing and either the first bearing system or the second bearing system.

23. 17. The finite rotation motor system of claim 16, wherein the damping system comprises a plurality of O-rings adjacent one of the first bearing system and the second bearing system.

24. 17. The finite rotation motor system of claim 16, wherein the damping system comprises an L-shaped cross-sectional elastomeric material disposed between the rotor and one of the first bearing system and the second bearing system.

25. 17. The finite rotation motor system of claim 16, wherein the damping system comprises an L-shaped cross-sectional elastomeric material disposed between the housing and one of the first bearing system and the second bearing system.

26. 17. The finite rotation motor system of claim 16, wherein the damping system comprises an annular elastomeric material disposed between the rotor and one of the first bearing system and the second bearing system.

27. 17. The finite rotation motor system of claim 16, wherein the damping system comprises an annular elastomeric material disposed between the housing and one of the first bearing system and the second bearing system.

28. 17. The finite rotation motor system of claim 16, wherein the compressive force is provided by a spring opposing a retaining ring.

29. 29. The finite rotation motor system of claim 28, wherein the spring providing the compressive force opposes the retaining ring at the distal end of the first bearing system and abutting the second bearing system.

30. 17. The finite rotation motor system of claim 16, wherein the damping system comprises an elastomeric material, the elastomeric material being either a molded component mounted or formed in situ, or an overmolded feature on the surface of another component of the system.

31. 1. A method of operating a finite rotation motor, comprising: Prepare a stator in a housing; providing a rotor rotatably coupled within the stator by a first bearing system at a proximal end and a second bearing system at a distal end, the first bearing system and the second bearing system being coupled to the rotor on an inner side thereof and to the housing on an outer side thereof; applying a compressive force between the first bearing system and the second bearing system along an axial direction; and The divergence force generated by the compression force and diverging in the axial direction is damped by absorbing the divergence force with an elastomer member disposed between the rotor and the housing. method.

32. 32. The method of claim 31, wherein the elastomeric member comprises one of an O-ring, a compliant washer, an L-shaped elastomeric material, and an annular elastomeric material.

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