Multi-DOF Spherical Motor Merging Motors for Compact Control
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Solution Overview
Problem
Conventional multi-degree-of-freedom (MDOF) motion systems using multiple single-degree-of-freedom (SDOF) motors suffer from accuracy issues and complex structures, leading to poor control stability and dynamic performance due to asynchronous motor control and coupling effects.
Innovation Solution
A multi-degree-of-freedom spherical motor design featuring a primary frame, secondary frame, tertiary frame, and terminal rotor with perpendicular rotating shafts and distributed permanent magnets and electromagnetic coils, allowing for synchronous control and rotation in three mutually perpendicular directions through electromagnetic interaction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple single-degree-of-freedom motors are connected in series or parallel to achieve multi-degree-of-freedom motion, then the motion capability is improved, but the structure becomes complex and control accuracy deteriorates due to error accumulation
Solution Approach 1:
The patent merges multiple single-degree-of-freedom motors into a single integrated multi-degree-of-freedom motor structure. The stator contains multiple independent winding sets (first, second, third, and fourth winding sets) that can be independently controlled, while the rotor integrates multiple rotation capabilities around different axes. This consolidation eliminates the need for complex mechanical connections between multiple motors while maintaining full MDOF motion capability and enabling centralized control to avoid error accumulation.
Solution Approach 2:
The patent creates a universal motor structure that can perform multiple functions - rotation around multiple axes (first rotation axis, second rotation axis, third rotation axis) - within a single device. The rotor is designed with symmetric windings that can generate magnetic forces in multiple directions, allowing the motor to achieve various rotation modes (first rotation mode, second rotation mode, third rotation mode) without requiring separate specialized motors for each function.
2Adaptability or versatility
If multiple single-degree-of-freedom motors are used to drive the motion system, then the motion range is expanded, but the control stability deteriorates due to asynchronous motor control
Solution Approach 1:
The patent combines multiple control functions into a single control system that manages all winding sets simultaneously. The control device can independently control the current in each winding set (first, second, third, fourth winding sets) to achieve precise synchronization of the rotor's motion across all degrees of freedom. This unified control approach eliminates the asynchronous control issues that arise when managing multiple separate motors, as all windings are coordinated through a single control channel.
3Adaptability or versatility
If multiple single-degree-of-freedom motors are connected to achieve MDOF motion, then the rotation capability is enhanced, but the system size increases and dynamic performance deteriorates
Solution Approach 1:
The patent merges multiple motor functions into a single compact structure. The stator contains all necessary winding sets arranged in a space-efficient configuration, and the rotor integrates all rotation mechanisms around a common axis. This consolidation significantly reduces the overall system size compared to connecting multiple separate motors, while maintaining the ability to perform multi-axis rotation with enhanced dynamic performance.
Solution Approach 2:
The patent employs a nested arrangement where the rotor is positioned within the stator, and multiple winding sets are arranged concentrically or in layered configurations. The first, second, third, and fourth winding sets are positioned to maximize space utilization, with some windings potentially nested within or adjacent to others. This nested structure allows the motor to achieve complex multi-degree-of-freedom rotation capability while maintaining a compact overall footprint.
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 design enables a simpler, more compact system for fast and accurate MDOF position control, overcoming the limitations of asynchronous motor control and improving system stability by facilitating direct, synchronous control of the terminal rotor's multi-degree-of-freedom motion.
Implementation Method 1
current is applied to the electromagnetic coils, and electromagnetic force is generated between the electromagnetic coils and the permanent magnets
Data Source
AI summary
A multi-degree-of-freedom spherical motor includes a primary frame, a secondary frame, a tertiary frame, a terminal rotor, a first rotating shaft, a second rotating shaft, a third rotating shaft, permanent magnets and electromagnetic coils. The electromagnetic coils are arranged on an inner surface of the primary frame. Two sides at a top portion of the primary frame are symmetrically connected to the secondary frame through the first rotating shaft. The tertiary frame is arranged inside the secondary frame in a non-mechanical contact manner. The terminal rotor and the tertiary frame are connected through the third rotating shaft. The permanent magnets are arranged on one side of the terminal rotor close to the primary frame. The secondary frame and the tertiary frame are connected through the second rotating shaft. The first rotating shaft, the second rotating shaft and the third rotating shaft are perpendicular to each other.