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EP1135781B1 - Bidirektionale betätigunsvorrichtungen - Google Patents

Bidirektionale betätigunsvorrichtungen Download PDF

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Publication number
EP1135781B1
EP1135781B1 EP99972774A EP99972774A EP1135781B1 EP 1135781 B1 EP1135781 B1 EP 1135781B1 EP 99972774 A EP99972774 A EP 99972774A EP 99972774 A EP99972774 A EP 99972774A EP 1135781 B1 EP1135781 B1 EP 1135781B1
Authority
EP
European Patent Office
Prior art keywords
stator
magnet
spherical
poles
actuator according
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP99972774A
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English (en)
French (fr)
Other versions
EP1135781A1 (de
Inventor
Pierre Gandel
Yann Buaillon
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Moving Magnet Technologie SA
Original Assignee
Moving Magnet Technologie SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Moving Magnet Technologie SA filed Critical Moving Magnet Technologie SA
Publication of EP1135781A1 publication Critical patent/EP1135781A1/de
Application granted granted Critical
Publication of EP1135781B1 publication Critical patent/EP1135781B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F7/00—Magnets
    • H01F7/06—Electromagnets; Actuators including electromagnets
    • H01F7/08—Electromagnets; Actuators including electromagnets with armatures
    • H01F7/16—Rectilinearly-movable armatures
    • H01F7/1638—Armatures not entering the winding
    • H01F7/1646—Armatures or stationary parts of magnetic circuit having permanent magnet
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F7/00—Magnets
    • H01F7/06—Electromagnets; Actuators including electromagnets
    • H01F7/08—Electromagnets; Actuators including electromagnets with armatures
    • H01F7/17—Pivoting and rectilinearly-movable armatures
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F7/00—Magnets
    • H01F7/06—Electromagnets; Actuators including electromagnets
    • H01F7/08—Electromagnets; Actuators including electromagnets with armatures
    • H01F7/121—Guiding or setting position of armatures, e.g. retaining armatures in their end position
    • H01F7/122—Guiding or setting position of armatures, e.g. retaining armatures in their end position by permanent magnets

Definitions

  • the present invention relates to the field of electromagnetic actuators.
  • German patent DE3037648 describes a two-dimensional actuator which may comprise either moving coils or moving magnets.
  • the solution comprising moving coils is not satisfactory because it induces high industrialization costs.
  • the described solution comprising moving magnets requires the use of 8 moving magnets.
  • Such an architecture requires multiple control signals and computer processing for controlling the XY position.
  • patent US5062055 which relates to the electromagnetic actuators producing both a rotational movement and a translational movement.
  • Such a prior art actuator comprises a cylindrical magnet having magnetization boundaries in the peripheral direction and in the axial direction, in which a multipole magnetization is established in the axial direction, and yokes carrying coils having Magnetic poles located opposite the magnetization boundaries.
  • Such an actuator uses a magnet having several pairs of poles with directions of magnetization perpendicular to each other.
  • the purpose of the present invention is to propose an actuator for controlling the positioning of a member according to two degrees of freedom, for example in a plane along two perpendicular axes XY, or according to a degree of freedom in translation and a degree of freedom in rotation, or in spherical rotation, with simple control signals.
  • the invention relates in its most general sense to a bidirectional actuator comprising at least one stator structure excited by an electric coil, and a single movable magnet having a single polarity. This magnet is placed in a main air gap.
  • the stator structure is composed of two stator parts. Each of the stator parts has at least one secondary air gap and is excited by at least one electric coil.
  • the stator structure has at least one gap for moving the movable magnet relative to a first degree of freedom, and at least a second secondary gap for moving the movable magnet relative to a second degree of freedom.
  • the movable magnet is integral with the cylinder head.
  • the stator structure is composed of 4 poles made of a soft magnetic material defining between them two pairs of secondary air gaps intersecting at a midpoint and in that the main air gap is plane.
  • stator poles are constituted by two pairs of rectangular pieces, each pair of parts being excited by at least one electrical coil and each defining a secondary air gap.
  • the ratio L / E between the thickness L of the magnet and the thickness E of the gap is between 1 and 2.
  • the dimensions of the secondary air gaps are C 1 + E and C 2 + E, where C 1 and C 2 denote the stroke of the moving magnet according to the two directions of the secondary air gaps and in that the dimensions of the magnet are C 1 + d 1 + E and C 2 + d 2 + E, d 1 and d 2 denoting the width of said secondary airships.
  • the stator structure is composed of two stator pieces disposed on either side of the magnet, each of the stator pieces having a pair of stator poles, the pair of stator poles of one of the pieces being oriented perpendicular to the pair of stator poles of the other stator part.
  • the magnet is of tubular shape and is movable in a first degree of freedom in axial translation and in a second degree of freedom in axial rotation with respect to a stator structure formed of 4 stator poles in the form of portions of cylinders having a first secondary air gap in the longitudinal median plane, in which a first electric coil is placed, and a second secondary air gap in the transverse plane, in which a second coil is placed.
  • a stator structure formed of 4 stator poles in the form of portions of cylinders having a first secondary air gap in the longitudinal median plane, in which a first electric coil is placed, and a second secondary air gap in the transverse plane, in which a second coil is placed.
  • Each of these coils is preferably wrapped around a ferromagnetic core.
  • the magnet is of tubular shape and is movable in a first degree of freedom in axial translation and in a second degree of freedom in axial rotation with respect to an outer cylindrical stator structure formed of 4 stator poles having a concave surface defining the main air gap with the cylindrical yoke placed inside the magnet, each of the four stator poles being surrounded by an electric coil.
  • the magnet is of tubular shape and is movable in a first degree of freedom in axial translation and in a second degree of freedom in axial rotation with respect to a cylindrical stator structure constituted by a first external stator piece for displacement according to a first degree of freedom, and a second internal stator piece for displacement according to a degree of freedom, each of the stator parts comprising at least one electric excitation coil.
  • the magnet is of spherical shape and is rotatable in spherical rotation with respect to a spherical cap-like stator structure formed of 4 stator poles in the form of a cap sector, comprising two coils housed in grooves. peripherals whose median planes are perpendicular.
  • the magnet is of spherical shape and is movable in spherical rotation with respect to a stator structure of tubular form formed of 4 quarter-tube-shaped stator poles, surrounded by an electric coil.
  • the main air gap is of spherical shape.
  • the magnet is spherical in shape and surrounds a spherical yoke, and is rotatable around a stator structure of semispherical shape formed of 4 quarter-sphere-shaped stator poles.
  • the magnet is spherical in shape and surrounds a spherical yoke, and is movable in spherical rotation around a stator structure formed of two half-spherical stator parts.
  • the invention relates to a new type of actuator for moving a moving part in two degrees of freedom.
  • Figures 1 and 2 show views of a first embodiment of an XY linear actuator.
  • the objective is to move a movable part in a 2-axis plane comprising at the base a structure composed of a 4-pole stator, a movable magnet and a yoke that can be fixed or movable with the magnet .
  • the first version presented with reference to Figures 1 and 2 relates to an actuator with fixed yoke.
  • this architecture only the magnet (14) is mobile.
  • This actuator thus makes it possible to create an adjustable intensity and direction force in the plane (XY).
  • L be the thickness of the magnet, E the air gap, C x and C y the sensor strokes in both dimensions and d x and d y the distances from pole to pole along the 2 axes.
  • the coils are flat coils surrounding each of the stator poles.
  • the stator X and the stator Y are arranged on both sides of the main air gap in which the magnet (14) is placed.
  • the poles (21, 22) of the stator X are oriented perpendicularly to the poles (26, 27) of the stator Y, in order to drive the moving magnet in both perpendicular directions and to provide a bidirectional displacement of the member to which it is coupled.
  • Figures 6 and 7 show schematic views respectively in a transverse view, and the stator portion of a first embodiment in the form of an XY linear actuator.
  • This variant of the actuator has the advantage of requiring only one coil per axis.
  • a magnet support surrounding the magnet to transmit the effort or displacement provided to an external part.
  • This variant can also be made symmetrical, that is to say by replacing the cylinder head with a stator + coils. We will then increase the amplitude of the created force.
  • stator It is also possible to make the stator several distinct parts, for example by separating the poles. We can then obtain a kernel-free version of ferromagnetic coil or with independent coil cores, which would facilitate winding.
  • This variant can also be made in symmetrical version.
  • Figures 8 and 9 show a variant of a cylindrical actuator x- ⁇ , respectively without and with the magnet.
  • the actuator has a cylindrical structure, thus comprising an area inside the magnet and an area outside the same magnet. This structure fulfills two functions to ensure: rotary actuator function and linear actuator. The solutions defined below will be defined by the situation ("inside” or "outside") of each of these functions.
  • the actuator comprises a stator structure having four poles (51 to 54) in the form of half-cylinders and a tubular magnet (55).
  • a first solution is described in Figures 10 to 12: it consists of the use of a cylindrical internal stator composed of four identical poles. Two coils are surrounded around each of these poles.
  • This actuator makes it possible to create at the same time a force and a moment of adjustable intensities, both collinear with the X axis.
  • Figures 13 to 16 show a second solution of a linear-rotary actuator.
  • This second solution consists in replacing 2 of the 4 coils of the preceding solution by a coil mounted on the main axis of the mechanism. This one, named (4L), will assure the part "axial force” and the 2 others will create the moment.
  • This actuator thus makes it possible to create both a force and a moment of adjustable intensities, both collinear with the axis X.
  • FIGs 17 to 19 show a third version of a linear-rotary actuator.
  • the stator is formed by a cylindrical piece having 4 poles (62 to 65) in the form of half-cylinders.
  • 4R the 2 previously noted coils
  • This actuator thus makes it possible to create both a force and a moment of adjustable intensities, both collinear with the axis X.
  • Another structure could also be obtained by splitting the coil (4L) into 3 or 4 coils coming to be mounted on either side of the axial poles.
  • Figures 20 and 21 show an alternative embodiment of an actuator type "linear and rotary exterior”.
  • This actuator thus makes it possible to create both a force and a moment of adjustable intensities, both collinear with the axis X.
  • Figures 22 and 23 show a second version of a "linear-rotary" type actuator.
  • This actuator thus makes it possible to create both a force and a moment of adjustable intensities, both collinear with the axis X.
  • the coils (4L) and (4R) are shown here of rectangular shape to facilitate the reading of the drawing, but it goes without saying that they could also, for example, take a cylindrical shape.
  • This actuator thus makes it possible to create both a force and a moment of adjustable intensities, both collinear with the axis X.
  • Another structure could also be obtained by splitting the coil (4L) into 3 or 4 coils coming to be mounted on either side of the axial poles, or by adding a second coil (4R), symmetrically to the first with respect to the 'axis.
  • This actuator thus makes it possible to create both a force and a moment of adjustable intensities, both collinear with the axis X.
  • Another structure could also be obtained by multiplying the outer stator structure according to FIG. 27. This gives a structure with more external poles (110, 111, 112, 113), with several magnets (115, 116), which offers a lower angular stroke but a larger torque.
  • This multiplication principle can also be applied to each cylindrical structure described in this text.
  • This actuator thus makes it possible to create both a force and a moment of adjustable intensities, both collinear with the axis X.
  • Figures 30 and 31 describe an actuator of the type "Linear outside, rotating inside”.
  • This actuator thus makes it possible to create both a force and a moment of adjustable intensities, both collinear with the axis X.
  • stator in the form of four quarters of cylinders (150 to 153) around which surround two coils (154, 155) (see Figure 32), we obtain a 4-pole rotary version, reduced stroke at less than 90 ° but providing a larger torque. We will then have 2 magnets of 90 ° angular width.
  • Figures 33 and 34 show views of a spherical actuator ⁇ - ⁇ and its stator.
  • a magnet support being attached to the magnet for transmitting the effort - or displacement - supplied to an external part.
  • composition of these currents will allow us, by the principle of superposition, to create any moment whose axis will be included in this plane XY.
  • This actuator thus makes it possible to create independent pairs along two orthogonal axes.
  • a magnet support being attached to the magnet for transmitting the effort - or displacement - supplied to an external part.
  • composition of these currents will allow us, by the principle of superposition, to create any moment whose axis will be included in this plane XY.
  • Figure 36 corresponds to another arrangement of the same system, more easily achievable industrially but at a lower stroke.
  • the stator parts are made in quarter-shaped spherical sector (220 to 223). They are surrounded by two coils (224, 225).
  • FIGS. 37 and 38 show views of a spherical actuator of the "all exterior" type:
  • a magnet support being attached to the magnet for transmitting the effort - or displacement - supplied to an external part.
  • this actuator is in all respects the same as that of the first spherical actuator presented in this text.
  • Figures 39 and 40 show a second version of an "all-out" type spherical actuator.
  • this actuator is in all respects the same as that of the spherical actuator shown in FIGS. 35 and 36.
  • Figures 41 and 42 show views of three quarter face and partial section of a hybrid actuator (indoor & outdoor).
  • a magnet support being attached to the magnet for transmitting the effort - or displacement - supplied to an external part.
  • composition of these currents will allow us, by the principle of superposition, to create any moment whose axis will be included in this plane XY.
  • Each of the above electromagnetic systems may be coupled with non-contact dimensional position sensors.
  • An element sensitive to magnetic fields for example a Hall effect probe
  • Figures 43 and 44 illustrate the application of this principle to a planar XY actuator.
  • the position sensor makes it possible to measure the variations of flux created by a moving magnet in an air gap.
  • the stator consists of four rectangular portions (300 to 303) surrounded by four coils (310 to 313).
  • a thin magnet (305) transversely magnetized is placed in the main gap (307) formed between the stator and the yoke (306).
  • Four Hall probes (320 to 323) are placed in the secondary air gaps between the stator parts (300 to 303).
  • the probes will measure a variation of flux due to the displacement of the magnet and the current flowing in the coils. We must therefore “discard” this flow due to the current. This can be done in two ways:
  • the intensity can be measured by any conceivable means (for example by measuring the voltage drop across a sampling resistor through which the current flows).
  • the coils By alternating the "sensor" and “actuator” functions. During a given time interval, the coils will be energized to produce the desired force (or torque), and during the next interval the supply of the coils will be suppressed so that only the flux due to the magnet will be measured. We will have an intermittent force that can be used for joystick type functions.

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  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Reciprocating, Oscillating Or Vibrating Motors (AREA)
  • Linear Motors (AREA)
  • Amplifiers (AREA)
  • Actuator (AREA)
  • Electromagnets (AREA)

Claims (15)

  1. Bidirektionales Stellglied, das mindestens eine Statorstruktur aufweist, die durch mindestens eine elektrische Spule erregt wird, dadurch gekennzeichnet, dass er einen einzelnen beweglichen Magneten umfasst, der in einem Hauptluftspalt positioniert ist und dadurch, dass die Statorstruktur mindestens eine elektrische Spule umfasst und aus einem ersten Statorpolpaar (1, 2) besteht, wobei zwischen den beiden Polen ein erster sekundärer Luftspalt definiert wird für die Verschiebung des einzelnen beweglichen Magneten (14) in Bezug auf einen ersten Freiheitsgrad und einem zweiten Statorpolpaar (3, 4), wobei zwischen den beiden Polen ein zweiter sekundärer Luftspalt definiert wird für die Verschiebung des einzelnen beweglichen Magneten (14) in Bezug auf einen zweiten Freiheitsgrad.
  2. Bidirektionales Stellglied gemäß Anspruch 1, dadurch gekennzeichnet, dass der bewegliche Magnet fest mit einem Joch (25) verbunden ist.
  3. Bidirektionales Stellglied gemäß Anspruch 1 oder 2, dadurch gekennzeichnet, dass die Statorstruktur aus 4 Polen aus einem weichen magnetischen Material besteht, wobei zwischen den Polen zwei Paar sekundäre Luftspalte definiert werden, die sich in einem Mittelpunkt kreuzen und dadurch gekennzeichnet, dass der Hauptluftspalt (10) flach ist.
  4. Bidirektionales Stellglied gemäß Anspruch 3, dadurch gekennzeichnet, dass die Statorpole aus 4 rechteckigen Teilen bestehen, wobei jeder Teil von einer elektrischen Spule umgeben ist und zwischen den Teilen zwei senkrechte sekundäre Luftspaltpaare definiert werden.
  5. Bidirektionales Stellglied gemäß mindestens einem der vorherigen Ansprüche, dadurch gekennzeichnet, dass das Verhältnis L/E zwischen der Dicke L des Magneten und der Dicke E des Luftspaltes zwischen 1 und 2 liegt.
  6. Bidirektionales Stellglied gemäß mindestens einem der vorherigen Ansprüche, dadurch gekennzeichnet, dass die Abmessungen der sekundären Luftspalte C1 +E und C2 +E betragen, wobei C1 und C2 die Strecke des beweglichen Magnetes gemäß den beiden Richtungen der sekundären Luftspalte bestimmen und dadurch gekennzeichnet, dass die Abmessungen des Magneten C1 +d1+E und C2 +d2+E betragen, wobei d1 und d2 die Breiten der sekundären Luftspalte bestimmen.
  7. Bidirektionales Stellglied gemäß Anspruch 1 oder 2, dadurch gekennzeichnet, dass die Statorstruktur aus zwei Statorteilen besteht, die auf den beiden Seiten des Magneten angeordnet sind, wobei jedes Statorteil ein Statorpolpaar aufweist und das Statorpolpaar eines der Teile senkrecht zu dem Statorpolpaar des anderen Statorteils gerichtet ist.
  8. Bidirektionales Stellglied gemäß Anspruch 1 oder 2, dadurch gekennzeichnet, dass der Magnet eine röhrenförmige Form aufweist und gemäß einem ersten Freiheitsgrad axial parallel verschoben werden kann und gemäß einem zweiten Freiheitsgrad axial gedreht werden kann in Bezug auf eine Statorstruktur, die aus 4 Statorpolen mit Zylinderform besteht, mit einem ersten sekundären Luftspalt in der mittleren Längsebene, in der mindestens eine erste elektrische Spule positioniert ist, die mindestens einen ferromagnetischen Kern umgibt und ein zweiter sekundärer Luftspalt in der Querebene, in der eine zweite elektrische Spule positioniert ist, die einen ferromagnetischen Kern umgibt.
  9. Bidirektionales Stellglied gemäß Anspruch 1 oder 2, dadurch gekennzeichnet, dass der Magnet eine röhrenförmige Form aufweist und gemäß einem ersten Freiheitsgrad axial parallel verschoben werden kann und gemäß einem zweiten Freiheitsgrad axial gedreht werden kann in Bezug auf eine externe zylindrische Statorstruktur, die aus 4 Statorpolen gebildet wird und eine konkave Fläche aufweist, die den Hauptluftspalt bestimmt mit dem zylindrischen Joch, das sich in dem Magneten befindet, wobei jeder der vier Statorpole von einer elektrischen Spule umgeben ist.
  10. Bidirektionales Stellglied gemäß Anspruch 1 oder 2, dadurch gekennzeichnet, dass der Magnet eine röhrenförmige Form aufweist und gemäß einem ersten Freiheitsgrad axial parallel verschoben werden kann und gemäß einem zweiten Freiheitsgrad axial gedreht werden kann in Bezug auf eine zylindrische Statorstruktur, die von einem ersten externen Statorteil gebildet wird für die Verschiebung gemäß einem ersten Freiheitsgrad und einem zweiten internen Statorteil für die Verschiebung gemäß einem Freiheitsgrad, wobei jedes Statorteil mindestens eine elektrische Erregerspule aufweist.
  11. Bidirektionales Stellglied gemäß Anspruch 1 oder 2, dadurch gekennzeichnet, dass der Magnet eine kugelförmige Form aufweist und sphärisch gedreht werden kann in Bezug auf eine Statorstruktur in Form einer Kugelkappe, die aus 4 Statorpolen in Form eines Kappenausschnitts gebildet wird und zwei Spulen umfasst, die in Umfangsnuten angeordnet sind, deren Mittelebenen senkrecht zueinander sind.
  12. Bidirektionales Stellglied gemäß Anspruch 1 oder 2, dadurch gekennzeichnet, dass der Magnet eine kugelförmige Form aufweist und sphärisch gedreht werden kann in Bezug auf eine röhrenförmige Statorstruktur, die aus 4 Statorpolen in Form einer Viertelröhre gebildet wird, die von einer elektrischen Spule umgeben werden.
  13. Bidirektionales Stellglied gemäß Anspruch 11, dadurch gekennzeichnet, dass der Hauptluftspalt eine kugelförmige Form aufweist.
  14. Bidirektionales Stellglied gemäß Anspruch 1 oder 2, dadurch gekennzeichnet, dass der Magnet eine kugelförmige Form aufweist und von einem kugelförmigen Joch umgeben wird und um eine kugelförmige oder halb kugelförmige Statorstruktur, die aus 4 Statorpolen in Form einer Viertel- oder Achtelkugel besteht, herum sphärisch gedreht werden kann.
  15. Bidirektionales Stellglied gemäß Anspruch 1 oder 2, dadurch gekennzeichnet, dass der Magnet eine kugelförmige Form aufweist und von einem Joch umgeben wird, das aus zwei Teilen in Form von Halb- oder Viertelkugeln gebildet wird und sphärisch um eine Statorstruktur, die aus zwei halbkugelförmigen Statorteilen besteht, herum sphärisch gedreht werden kann.
EP99972774A 1998-11-20 1999-11-10 Bidirektionale betätigunsvorrichtungen Expired - Lifetime EP1135781B1 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR9814668 1998-11-20
FR9814668A FR2786311B1 (fr) 1998-11-20 1998-11-20 Actionneurs bidirectionnels
PCT/FR1999/002771 WO2000031758A1 (fr) 1998-11-20 1999-11-10 Actionneurs bidirectionnels

Publications (2)

Publication Number Publication Date
EP1135781A1 EP1135781A1 (de) 2001-09-26
EP1135781B1 true EP1135781B1 (de) 2006-03-22

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EP99972774A Expired - Lifetime EP1135781B1 (de) 1998-11-20 1999-11-10 Bidirektionale betätigunsvorrichtungen

Country Status (6)

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EP (1) EP1135781B1 (de)
JP (1) JP2002530879A (de)
AT (1) ATE321347T1 (de)
DE (1) DE69930555T2 (de)
FR (1) FR2786311B1 (de)
WO (1) WO2000031758A1 (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11108287B2 (en) 2019-07-05 2021-08-31 Honeywell International Inc. Spherical electromagnetic machine with two degrees of unconstrained rotational freedom

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2887376B1 (fr) * 2005-06-15 2007-12-14 Sonceboz Sa Sa Suisse Servo-actionneur electromagnetique monophase rotatif comprenant un actionneur et un capteur de position

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Publication number Priority date Publication date Assignee Title
DD146525B1 (de) * 1979-10-17 1982-07-28 Furchert Hans Juergen Zweikoordinatenschrittmotor
US4458227A (en) * 1982-04-12 1984-07-03 Polaroid Corporation Electromagnetic actuators
DE3234288C2 (de) * 1982-09-16 1984-07-26 Philips Patentverwaltung Gmbh, 2000 Hamburg Optische Vorrichtung zur Lenkung bzw. Ausrichtung eines Strahlenbündels
DE3538017A1 (de) * 1985-10-25 1987-04-30 Triumph Adler Ag Elektrischer antrieb
JPH0714269B2 (ja) * 1986-03-22 1995-02-15 日本電信電話株式会社 球面モ−タ
FR2640828A1 (fr) * 1988-07-21 1990-06-22 Seiko Epson Corp Actionneur electromagnetique
JP3665340B2 (ja) * 1994-07-14 2005-06-29 コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ 円筒状並進コイルおよびトロイダル状回転コイルを有する電磁アクチュエータ並びにこれと測定システムを具えるアクチュエータユニット

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11108287B2 (en) 2019-07-05 2021-08-31 Honeywell International Inc. Spherical electromagnetic machine with two degrees of unconstrained rotational freedom

Also Published As

Publication number Publication date
FR2786311B1 (fr) 2001-01-19
ATE321347T1 (de) 2006-04-15
FR2786311A1 (fr) 2000-05-26
EP1135781A1 (de) 2001-09-26
JP2002530879A (ja) 2002-09-17
DE69930555T2 (de) 2007-03-08
DE69930555D1 (de) 2006-05-11
WO2000031758A1 (fr) 2000-06-02

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