Spherical Electromagnetic Actuator Multi-DOF Motion Control
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Solution Overview
Problem
Current multi-degree of freedom motion control systems are cumbersome and inefficient due to the need for multiple motors or actuators, and existing solutions like the Global Pointing Actuator face challenges with coil winding complexity and reliance on separate centering torque for open-loop position control.
Innovation Solution
A multi-degree of freedom electromagnetic machine with a spherical stator and armature design, featuring perpendicularly disposed axes and coils wound on the stator, utilizes a magnetic field and Lorentz force to achieve movement without the need for separate centering torque, allowing for compact, efficient operation as a motor, generator, or sensor.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple motors or actuators are used for each degree of freedom, then motion control capability is improved, but device size and complexity increase
Solution Approach 1:
The patent combines multiple actuator functions into a single spherical electromagnetic device that can provide multi-degree-of-freedom motion control. The spherical stator with multiple coil windings and the armature with multiple magnets work together to generate forces in multiple directions simultaneously, eliminating the need for separate motors for each degree of freedom.
Solution Approach 2:
The spherical actuator serves multiple functions within a single device structure. It can control position and orientation in three-dimensional space, providing both translational and rotational capabilities through its spherical geometry and multi-axis coil configuration, making it a universal motion control solution.
2Adaptability or versatility
If longitude coil is wound on spherical stator, then multi-degree of freedom motion is achieved, but coil winding complexity increases
Solution Approach 1:
The patent employs a spherical stator geometry where coils are wound along meridional and latitudinal lines. This spherical configuration allows for systematic coil placement that achieves multi-degree-of-freedom motion while maintaining manufacturability through standardized winding patterns on a curved surface.
3Ease of operation
If separate centering torque mechanism is added, then open-loop position control is enabled, but device complexity and size increase
Solution Approach 1:
The spherical actuator provides self-centering capability through its symmetric spherical geometry and balanced magnetic field distribution. The armature naturally returns to its neutral position when coil currents are removed, eliminating the need for separate mechanical centering mechanisms like springs or magnetic detents.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution enables smaller, more efficient motion control systems that can operate in multiple degrees of freedom without the complexity of winding longitudinal coils and without relying on separate centering torque, making them suitable for various applications including robotics and miniaturized platforms.
Implementation Method 1
A Lorentz force affects relative movement between the first structure and the second structure when the magnetic field that emanates from the at least one magnetic pole interacts with electrical currents within any of the electrical conductors.
Data Source
AI summary
A multi-degree-of-freedom electromagnetic machine that may be operated as a motor, a generator, or a motor-generator, includes a first structure and a second structure. The first structure comprises a first conductor, a second conductor, and a third conductor, each of which follows a different trajectory. The first, second, and third conductors together form a general shape of a surface. The second structure is disposed adjacent to the first structure and includes a magnet that emanates a magnetic field. The magnet has at least one of its magnetic poles facing the surface. A Lorentz force affects relative movement between the first structure and the second structure when the magnetic field that emanates from the at least one magnetic pole interacts with electrical currents within any of the electrical conductors.