Abstract: A permanent magnet carrier, which could be a rotor or stator of an electric machine, includes a first non-magnetic ring and a second non-magnetic ring. Between the rings are soft magnetic pole elements. The soft magnetic pole elements each connect to the first and second non-magnetic rings and the soft magnetic pole elements are separated from each other by the first and second non-magnetic rings. Permanent magnets are disposed between the soft magnetic pole elements.

Abstract: A torque transfer device has a ring gear and inner and outer planet gear sets, which may not be orbiting but rotating in fixed positions relative to a housing. One of the gear sets may comprise compound gears. There may also be a sun gear connected to a planet gear set. The sun gear may be an input and the ring gear an output for a reducing gear system to act as a torque amplifier. The gears may be tapered and there may also be an axial force applied to one of the gear sets to tighten the meshing between the tapered gears. One of the gear sets, for example a gear set to which an axial force is applied, may be floating.

Abstract: An electric motor comprising: a first element having at least one electromagnet, a second element, rotatable relative to the first element about an axis, the second element comprising at least one permanent magnet, wherein the electric motor is arranged to generate a torque by applying a rotating magnetic field to the second element, and a friction member coupled to the first element such that the friction member is non-rotatable relative to the first element about the axis, the friction member comprising a magnetically susceptible material and being biased by a first biasing force toward the second element, wherein the first element, the second element and the friction member are configured such that: when the electromagnet is not energized, the first biasing force causes the friction member to contact the second element to generate a braking torque.

Abstract: A magnetic brake for a motor uses the magnetic force on the surface of a flux concentrating rotor to pull a flexible brake spring or friction sheet into friction contact with the rotor. An electromagnetic stator pulls the flexible brake spring or friction sheet away from the rotor when it is energized. The brake spring may be a variable thickness around the circumference in a radial flux motor or radially in an axial flux motor and is thicker near where it is fixed to the housing. The brake spring may be split so it can clamp down on the rotor symmetrically. The OD of the brake spring may be closer to the surrounding stator near the fixed section of the brake spring so the air gap to the brake stator is smaller and the gap to the rotor and the ID of the brake spring is larger to allow the brake stator to pull on this area with greater force initially when it is energized to disengage the brake.

Abstract: A carrier for an electric machine has a first layer and plural first posts extending from the first layer. The first layer defines gaps through the first layer adjacent to the plural first posts. One or more inserts have insert posts configured to be inserted through the gaps to combine with the plural first posts to widen the plural first posts. A carrier may also have a first layer, plural first posts extending from the first layer, the first layer defining gaps through the first layer intermediate between successive posts of the plural posts. One or more inserts have insert posts configured to be inserted through the gaps to form an array of posts in combination with the plural first posts.

Abstract: A magnetic brake for a motor uses the magnetic force on the surface of a flux concentrating rotor to pull a flexible brake spring or friction sheet into friction contact with the rotor. An electromagnetic stator pulls the flexible brake spring or friction sheet away from the rotor when it is energized. The brake spring may be a variable thickness around the circumference in a radial flux motor or radially in an axial flux motor and is thicker near where it is fixed to the housing. The brake spring may be split so it can clamp down on the rotor symmetrically. The OD of the brake spring may be closer to the surrounding stator near the fixed section of the brake spring so the air gap to the brake stator is smaller and the gap to the rotor and the ID of the brake spring is larger to allow the brake stator to pull on this area with greater force initially when it is energized to disengage the brake.

Abstract: An electric machine has a stator having an array of electromagnetic elements. A rotor is mounted on bearings and has an array of rotor posts. The rotor posts each have a length defining opposed ends and the array of rotor posts extends along the rotor in a direction perpendicular to the length of each of the rotor posts. The rotor has electromagnetic elements defining magnetic poles placed between the plurality of rotor posts. An airgap is formed between the rotor and the stator when they are in an operational position. A plurality of rotor flux restrictors are formed on the rotor, and each lies adjacent to one of the opposed ends of the rotor posts.

Abstract: An electric motor has a first carrier having an array of electromagnetic elements and a second carrier having electromagnetic elements defining magnetic poles. The first and second carriers each define an axis. An airgap is formed between the first and second carriers when in an operational position. An inner thrust bearing connects the first and second carriers and is arranged to allow relative rotary motion of the carriers. An outer thrust bearing connects the first and second carriers and is arranged to allow relative rotary motion of the carriers. The electromagnetic elements of each of the first and second carriers are arranged radially inward of the outer thrust bearing and radially outward of the inner thrust bearing. The inner thrust bearing and the outer thrust bearing are arranged to maintain the airgap against a magnetic attraction of the electromagnetic elements of the first and second carriers.

Abstract: A rotor for an electric machine having posts extending partially or completely between end irons. Each end iron is formed of a single piece of magnetic material with the posts extending from it, including the other end iron where the posts extend completely between them. Magnets are arranged between the posts with poles facing the posts to concentrate flux. In order to prevent too much of the flux from being drawn into flux paths through the end irons, the total magnetic flux is made to exceed a saturation flux of at least a portion of the flux path. This may be achieved by using interdigitated posts extending only partially between the end irons to provide gaps in the flux path, by providing flux resistors in the end irons to reduce a saturation flux below the total flux, or by using high aspect ratio magnets or posts so that the magnetic flux exceeds a saturation flux of the posts or end irons.

Abstract: A rotor for an electric machine having posts extending partially or completely between end irons. Each end iron is formed of a single piece of magnetic material with the posts extending from it, including the other end iron where the posts extend completely between them. Magnets are arranged between the posts with poles facing the posts to concentrate flux. In order to prevent too much of the flux from being drawn into flux paths through the end irons, the total magnetic flux is made to exceed a saturation flux of at least a portion of the flux path. This may be achieved by using interdigitated posts extending only partially between the end irons to provide gaps in the flux path, by providing flux resistors in the end irons to reduce a saturation flux below the total flux, or by using high aspect ratio magnets or posts so that the magnetic flux exceeds a saturation flux of the posts or end irons.

Abstract: An actuator for high rotational speed applications using a stator which utilizes laminated features to reduce Eddy current losses in the stator. This construction allows high pole counts while providing the efficiency and high speed benefits of a laminated construction. Laminated construction is very challenging for a high pole count lightweight motor, but embodiments of the device provide structural strength, and rigidity, as well as other benefits such as low manufacturing cost, high heat dissipation, integrated cooling channels, and light weight construction. Many of these benefits result from the use of a laminate sandwich of non-magnetic, heat conductive material, such as anodized aluminum, as a structural member of the stator.

Abstract: A method of moving a payload comprising: receiving a command to carry a payload from a first location to a second location, moving the payload along a first portion of a path between the first and second locations using a robotic arm, the first portion including the first location, moving the payload along a second portion of the path using the robotic arm, the second portion including the second location, wherein, during the movement along the first portion of the path, at least one actuator of the robotic arm is driven to exert a predetermined force to accelerate the payload and the position of the actuator is determined by a position detector to generate first position data, and wherein, during the movement along the second portion of the path, the at least one actuator of the robotic arm is driven to follow a predetermined sequence of positions.

Abstract: An electric machine comprising a first carrier having an array of electromagnetic elements and a second carrier having electromagnetic elements defining magnetic poles, the second carrier being arranged to move relative to the first carrier. An airgap is provided between the first carrier and the second carrier. The electromagnetic elements of the first carrier include posts, with slots between the posts, one or more electric conductors in each slot, the posts of the first carrier having a post height in mm. The first carrier and the second carrier together define a size of the electric machine. The magnetic poles having a pole pitch in mm. The size of the motor, pole pitch and post height are selected to fall within a region in a space defined by size, pole pitch and post height that provides a benefit in terms of force or torque per weight per excitation level.

Abstract: A rotor for an electric machine having posts extending partially or completely between end irons. Each end iron is formed of a single piece of magnetic material with the posts extending from it, including the other end iron where the posts extend completely between them. Magnets are arranged between the posts with poles facing the posts to concentrate flux. In order to prevent too much of the flux from being drawn into flux paths through the end irons, the total magnetic flux is made to exceed a saturation flux of at least a portion of the flux path. This may be achieved by using interdigitated posts extending only partially between the end irons to provide gaps in the flux path, by providing flux resistors in the end irons to reduce a saturation flux below the total flux, or by using high aspect ratio magnets or posts so that the magnetic flux exceeds a saturation flux of the posts or end irons.

Abstract: A torque transfer device has a ring gear and inner and outer planet gear sets, which may not be orbiting but rotating in fixed positions relative to a housing. One of the gear sets may comprise compound gears. There may also be a sun gear connected to a planet gear set. The sun gear may be an input and the ring gear an output for a reducing gear system to act as a torque amplifier. The gears may be tapered and there may also be an axial force applied to one of the gear sets to tighten the meshing between the tapered gears. One of the gear sets, for example a gear set to which an axial force is applied, may be floating.

Abstract: A magnetic brake for a motor uses the magnetic force on the surface of a flux concentrating rotor to pull a flexible brake spring or friction sheet into friction contact with the rotor. An electromagnetic stator pulls the flexible brake spring or friction sheet away from the rotor when it is energized. The brake spring may be a variable thickness around the circumference in a radial flux motor or radially in an axial flux motor and is thicker near where it is fixed to the housing. The brake spring may be split so it can clamp down on the rotor symmetrically. The OD of the brake spring may be closer to the surrounding stator near the fixed section of the brake spring so the air gap to the brake stator is smaller and the gap to the rotor and the ID of the brake spring is larger to allow the brake stator to pull on this area with greater force initially when it is energized to disengage the brake.

Abstract: A carrier for an electric machine has a first layer and plural first posts extending from the first layer. The first layer defines gaps through the first layer adjacent to the plural first posts. One or more inserts have insert posts configured to be inserted through the gaps to combine with the plural first posts to widen the plural first posts. A carrier may also have a first layer, plural first posts extending from the first layer, the first layer defining gaps through the first layer intermediate between successive posts of the plural posts. One or more inserts have insert posts configured to be inserted through the gaps to form an array of posts in combination with the plural first posts.

Abstract: An electromagnetic actuator having a speed reducer has a stator and a rotor arranged to move rotationally relative to the stator. A drive gear is fixed to the rotor. At least three planetary gears are mounted on the stator and each of the at least three planetary gears are engaged by the drive gear. An annular gear is rotationally mounted on the first stator the annular gear is engaged by each of the at least three planetary gears.

Abstract: An electric motor has a first carrier having an array of electromagnetic elements and a second carrier having electromagnetic elements defining magnetic poles. The first and second carriers each define an axis. An airgap is formed between the first and second carriers when in an operational position. An inner thrust bearing connects the first and second carriers and is arranged to allow relative rotary motion of the carriers. An outer thrust bearing connects the first and second carriers and is arranged to allow relative rotary motion of the carriers. The electromagnetic elements of each of the first and second carriers are arranged radially inward of the outer thrust bearing and radially outward of the inner thrust bearing. The inner thrust bearing and the outer thrust bearing are arranged to maintain the airgap against a magnetic attraction of the electromagnetic elements of the first and second carriers.

Abstract: An electric machine comprising a first carrier having an array of electromagnetic elements and a second carrier having electromagnetic elements defining magnetic poles, the second carrier being arranged to move relative to the first carrier. An airgap is provided between the first carrier and the second carrier. The electromagnetic elements of the first carrier include posts, with slots between the posts, one or more electric conductors in each slot, the posts of the first carrier having a post height in mm. The first carrier and the second carrier together define a size of the electric machine. The magnetic poles having a pole pitch in mm. The size of the motor, pole pitch and post height are selected to fall within a region in a space defined by size, pole pitch and post height that provides a benefit in terms of force or torque per weight per excitation level.