Abstract: In a motor including an armature, and a field system having a main pole magnetized in first directions in which a distance from the armature is defined and a sub-pole adjacent to the main pole in second directions orthogonal to the first directions and magnetized in the second directions and forming a Halbach array, a first dimension of the main pole in the second directions, a second dimension of the main pole and the sub-pole in the first directions, and a third dimension as a sum of the dimensions of the main pole and the sub-pole in the second directions are determined according to a flux content generated in a surface of the field system at the armature side.

Abstract: A motor includes an annularly-shaped field system having a first main pole magnetized in a first direction along a rotation axis and a second main pole magnetized in a second direction opposite to the first direction, and including a plurality of magnetic poles arrayed along a circumference around the rotation axis, and an armature facing the field system in a direction along the rotation axis, wherein a value of a ratio of an inner diameter to an outer diameter of the field system is within a range from 0.4 to 0.8.

Abstract: In a robot including a manipulator including a plurality of joints and a base configured to support the manipulator, a joint closest to the base side among the plurality of joints includes a first motor of an axial gap type, and a joint closest to a distal end side of the manipulator among the plurality of joints includes a distal end motor of a radial gap type.

Abstract: In a motor including an armature, and a field system having a main pole magnetized in first directions in which a distance from the armature is defined and a sub-pole adjacent to the main pole in second directions orthogonal to the first directions and magnetized in the second directions and forming a Halbach array, a first dimension of the main pole in the second directions, a second dimension of the main pole and the sub-pole in the first directions, and a third dimension as a sum of the dimensions of the main pole and the sub-pole in the second directions are determined according to a flux content generated in a surface of the field system at the armature side.