Two Degree-of-Freedom Electromagnetic Machine for UAVs
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Solution Overview
Problem
Current spherical motor designs for applications like UAVs and robotics suffer from limited power density, leading to complex and heavy structures due to the need for multiple degrees of freedom, which complicates transmission systems.
Innovation Solution
A two-degree-of-freedom electromagnetic machine with an inner and outer stator, voice coil winding, and strategically placed spin and tilt magnets, allowing the rotor to rotate about multiple perpendicular axes, enhancing power density through a multi-stage configuration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple separate motors/actuators are used for each axis to achieve multi-DOF motion, then the required motion freedom is achieved, but the structure becomes complicated and heavy
Solution Approach 1:
The patent merges multiple motors/actuators into a single spherical motor assembly that provides multi-DOF motion. The spherical motor integrates multiple drive mechanisms (stator windings for spin motion, voice coil winding for tilt motion) within one compact structure, eliminating the need for separate motors and their associated transmission systems for each axis.
Solution Approach 2:
The patent employs a nested configuration where the rotor is disposed between the inner stator and outer stator, with spin magnets on the rotor inner surface interacting with the inner stator, and tilt magnets on the rotor outer surface interacting with the outer stator. This nested arrangement allows multiple degrees of freedom to be achieved within a compact, integrated structure.
2Adaptability or versatility
If multiple separate motors/actuators are used for each axis to achieve multi-DOF motion, then the required motion freedom is achieved, but the structure becomes heavy
Solution Approach 1:
The patent merges multiple motors/actuators into a single spherical motor assembly that provides multi-DOF motion. The spherical motor integrates multiple drive mechanisms (stator windings for spin motion, voice coil winding for tilt motion) within one compact structure, eliminating the need for separate motors and their associated transmission systems for each axis.
Solution Approach 2:
The spherical motor assembly serves multiple functions simultaneously: it provides spin motion through stator windings interacting with spin magnets, provides tilt motion through voice coil winding interacting with tilt magnets, and supports the rotor structure. This multi-functionality reduces the overall weight compared to using separate specialized motors for each function.
3Device complexity
If traditional spherical motor design is used, then a compact structure is achieved, but power density is limited
Solution Approach 1:
The patent employs a nested configuration where the rotor is disposed between the inner stator and outer stator, with spin magnets on the rotor inner surface interacting with the inner stator, and tilt magnets on the rotor outer surface interacting with the outer stator. This nested arrangement allows multiple degrees of freedom to be achieved within a compact, integrated structure.
Solution Approach 2:
The patent utilizes a three-dimensional spherical configuration with magnetic interactions occurring at different radial dimensions. The inner stator interacts with spin magnets on the rotor inner surface, while the outer stator interacts with tilt magnets on the rotor outer surface, effectively using multiple spatial dimensions to increase power density within a compact volume.
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 achieves higher power density and torque with a more compact, reliable structure by enabling rotation about multiple axes, addressing the limitations of existing spherical motors.
Implementation Method 1
the plurality of stator windings, when electrically energized, impart a torque on the rotor that causes the rotor to rotate, relative to the inner and outer stators, about a first rotational axis
Implementation Method 2
the voice coil winding, when electrically energized, imparts a torque on the rotor that causes the rotor to rotate, relative to the inner and outer stators, about a second rotational axis that is perpendicular to the first rotational axis
Implementation Method 3
The spin magnets are coupled to the rotor inner surface, and the tilt magnets are coupled to the rotor outer surface
Data Source
AI summary
A two degree-of-freedom electromagnetic machine includes an inner stator, a plurality of stator windings, an outer stator, a voice coil winding, a rotor, a plurality of spin magnets, and a plurality of tilt magnets. The plurality of stator windings, when electrically energized, impart a torque on the rotor that causes the rotor to rotate, relative to the inner and outer stators, about a first rotational axis, and the voice coil winding, when electrically energized, imparts a torque on the rotor that causes the rotor to rotate, relative to the inner and outer stators, about a second rotational axis that is perpendicular to the first rotational axis.