Abstract: A six-degree-of-freedom linear motor is disclosed, including a magnet array and a coil group disposed above the magnet array, the magnet array includes a first Halbach magnet array and a second Halbach magnet array, the first Halbach magnet array has a parallelogrammic cross section in a plane defined by X- and Y-axes, the first Halbach magnet array has a first side parallel to the Y-axis and a second side forming an angle of ? with the Y-axis, the second Halbach magnet array is in mirror symmetry with the first Halbach magnet array with respect to the Y-axis, and the coil group includes a first, second, third and fourth coil group, each having an axis inclined at an angle of ? with respect to the Y-axis, the first and second coil groups are in mirror symmetry with the third and fourth coil groups with respect to the Y-axis, respectively.

Abstract: A six-degree-of-freedom linear motor is disclosed, including a magnet array and a coil group disposed above the magnet array, the magnet array includes a first Halbach magnet array and a second Halbach magnet array, the first Halbach magnet array has a parallelogrammic cross section in a plane defined by X- and Y-axes, the first Halbach magnet array has a first side parallel to the Y-axis and a second side forming an angle of ? with the Y-axis, the second Halbach magnet array is in mirror symmetry with the first Halbach magnet array with respect to the Y-axis, and the coil group includes a first, second, third and fourth coil group, each having an axis inclined at an angle of ? with respect to the Y-axis, the first and second coil groups are in mirror symmetry with the third and fourth coil groups with respect to the Y-axis, respectively.

Abstract: A flat voice coil motor, including a coil unit and two primary magnetic pole units exerting an Ampere force on the coil unit. The coil unit includes a small, weak magnet, and the force exerted by the two primary magnetic pole units on the small, weak magnet is a vertically upward resultant force. By arranging the small, weak magnet in the coil unit, magnetic repulsion or attraction forces between the small, weak magnet and the primary magnetic pole units always ensure a vertically upward force on the coil unit, thereby achieving gravity compensation. In addition, this arrangement is achieved simply by replacing an internal portion of the coil unit with the small, weak magnet, which neither has influence on the Ampere force acting on a coil in the coil unit nor adversely leads to motor overheating caused by a structural addition.