Spherical Motor Haptic Interface for Pitch and Roll Control
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Solution Overview
Problem
Existing human-machine interfaces that provide active feedback mechanisms are often complex, costly, heavy, and occupy a large space envelope due to the need for multiple motors and mechanical decoupling systems to manage movement about two perpendicular axes.
Innovation Solution
A spherical motor with a symmetric stator and multiple coils, coupled with pitch and roll angle sensors and a control circuit, allows for movement about two perpendicular axes while reducing complexity, weight, and space requirements by generating torque through controlled current flow in the coils.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple motors and mechanical decoupling systems are used to enable movement about two perpendicular axes, then the human-machine interface achieves the required motion capability and feedback functionality, but the system complexity, weight, cost, and space envelope increase significantly
Solution Approach 1:
The patent merges multiple motors and mechanical decoupling systems into a single spherical motor that can generate motion about two perpendicular axes simultaneously. The spherical motor integrates the functions of multiple actuators and universal joints into one unified device, eliminating the need for separate motors, cranks, gears, and universal joints while maintaining the ability to move the interface about pitch and roll axes
Solution Approach 2:
The spherical motor serves multiple functions: it generates torque about two perpendicular axes, provides mechanical decoupling between axes, enables haptic feedback, and replaces the need for universal joints. This multi-functional approach allows a single device to perform what previously required multiple specialized components
2Adaptability or versatility
If multiple motors and mechanical decoupling systems are used to enable movement about two perpendicular axes, then the human-machine interface achieves the required motion capability, but the weight increases due to additional components
Solution Approach 1:
The patent merges multiple motors and mechanical decoupling systems into a single spherical motor that can generate motion about two perpendicular axes simultaneously. The spherical motor integrates the functions of multiple actuators and universal joints into one unified device, eliminating the need for separate motors, cranks, gears, and universal joints while maintaining the ability to move the interface about pitch and roll axes
Solution Approach 2:
The patent extracts and eliminates unnecessary mechanical components such as universal joints, cranks, and gears from the system. By removing these intermediate mechanical elements and directly coupling the spherical motor to the interface, the design reduces weight while preserving the essential motion capabilities
3Adaptability or versatility
If multiple motors and mechanical decoupling systems are used to enable movement about two perpendicular axes, then the human-machine interface achieves the required motion capability, but the cost increases due to additional components
Solution Approach 1:
The patent merges multiple motors and mechanical decoupling systems into a single spherical motor that can generate motion about two perpendicular axes simultaneously. The spherical motor integrates the functions of multiple actuators and universal joints into one unified device, eliminating the need for separate motors, cranks, gears, and universal joints while maintaining the ability to move the interface about pitch and roll axes
Solution Approach 2:
The patent extracts and eliminates unnecessary mechanical components such as universal joints, cranks, and gears from the system. By removing these intermediate mechanical elements and directly coupling the spherical motor to the interface, the design reduces weight while preserving the essential motion capabilities
4Adaptability or versatility
If multiple motors and mechanical decoupling systems are used to enable movement about two perpendicular axes, then the human-machine interface achieves the required motion capability, but the space envelope increases due to additional components
Solution Approach 1:
The patent merges multiple motors and mechanical decoupling systems into a single spherical motor that can generate motion about two perpendicular axes simultaneously. The spherical motor integrates the functions of multiple actuators and universal joints into one unified device, eliminating the need for separate motors, cranks, gears, and universal joints while maintaining the ability to move the interface about pitch and roll axes
Solution Approach 2:
The patent extracts and eliminates unnecessary mechanical components such as universal joints, cranks, and gears from the system. By removing these intermediate mechanical elements and directly coupling the spherical motor to the interface, the design reduces weight while preserving the essential motion capabilities
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 system achieves reduced cost, weight, and space usage while providing effective haptic feedback, enabling efficient movement and control in applications like aircraft flight control systems.
Implementation Method 1
The spherical motor includes an armature, a spherical stator, a first coil, a second coil, and a third coil... supply current to the first coil that is equal to I0*sin(θ)*cos(φ), supply current to the second coil that is equal to I0*sin(θ)*sin(φ), and supply current to the third coil that is equal to I0*sin(θ)
Data Source
AI summary
An active human-machine interface feedback system includes a user interface, a pitch angle sensor, a roll angle sensor, a spherical motor, and a control circuit. The user interface adapted to receive user input and is configured, upon receipt of the user input, to move, about one or both of a pitch axis and a roll axis, to a user interface position. The pitch angle sensor is configured to sense the pitch angle component of the user interface position. The roll angle sensor is configured to sense the roll angle component of the user interface position. The spherical motor is coupled to the user interface and is symmetrically disposed about the origin. The control circuit determines a polar angle (θ) of the user interface relative to the origin, determine an azimuthal angle (φ) of the user interface relative to the origin, and supply current to the first, second, and third coils.