Abstract: The variable-reluctance servocontrolled linear motor comprises an electromagnet formed by a shell and by a winding around a displacement path, a magnetic portion mobile in the direction of displacement, guided mechanically so as to have a single degree of freedom with respect to the shell, under the effect of the force exerted by the electromagnet. A detector circuit is formed by an inductive or capacitive measurement sensor for the instantaneous value of the air gap and delivers a signal sd representative of the displacement of the mobile magnetic portion. A subtracter circuit receives a displacement control signal e and the signal sd representative of the displacement in order to deliver a displacement error signal .epsilon. for the mobile magnetic portion. A current amplifier circuit receives the error signal .epsilon. and delivers a supply current to the winding. A restoring element for the mobile magnetic portion exerts on the latter a restoring force opposed to the force exerted by the electromagnet.

Abstract: The present invention relates to a linear encoder that does not require the connection cable to be pulled around and has a simple constitution, while also contributing to smooth operation of the moving side as well as reduced size of the apparatus. In addition, the present invention also relates to a guide wherein a guiding device composed of a track rail and so forth is added to the linear encoder. In addition to arranging a plurality of detecting elements composed of electromagnetic conversion elements and so forth at prescribed intervals along the direction of relative motion on the stationary side, a detected element composed of a permanent magnet is arranged so as to oppose the above-mentioned detecting elements on the moving side, thus obtaining the above-mentioned effects.

Abstract: In one embodiment, a device for detecting the position of a head attached to a linear motor, the detection device comprises an extension member for guiding and directing flux therein. A moving coil disposed on the extension member which coil, when energized, moves along the extension for positioning the head. A magnet positioned in a spaced apart relationship with the coil for inducing a drive flux which assists in imparting the motion to the coil when the coil is energized. A first wall is positioned adjacent the linear motor. A second wall is positioned in a spaced apart relationship with the first wall.

Abstract: A transfer switch assembly to alternatively connect an electrical load to a primary or to a secondary power source. The transfer switch uses two conventional switches, or circuit breakers, having pivot type or linear type actuating members. A conventional linear motor is used. The actuating members of the switches, or circuit breakers, are in contact with the movable portion of the linear motor through a coupling mecanism. The coupling mecanism ensures that the switches, or circuit breakers, are not in a closed position simultaneously.

Abstract: A power supply system for a long-stator drive, whose stator winding along a path for a magnetic levitation train is subdivided into several controllable stator segments. The stator segments are controllable via at least one segment switch on at least one section cable system running along the stator segments. At least one frequency transformer is provided per section cable system, with the frequency transformer(s) arranged in at least one substation along the stator segments. Each frequency transformer generates a supply voltage system for the stator segments, with the nominal voltage in the section cable system being greater than the nominal voltage of the stator segments. At least one matching transformer is connected between the section cable systems and the stator segments, through which the nominal voltage of the section cable system can be transformed down to the nominal voltage of the stator segments.

Abstract: A plurality of permanent magnets is disposed in a pair of yoke sections so that magnetic poles adjacent to each other and facing each other have opposite polarities. An armature coil is provided in a magnetic gap through which coil a electric current is made to flow to cause its relative movement with respect to the permanent magnets. A linear scale is provided on the stator so as to be located on the thrust center line or in the vicinity thereof, and a read head is provided on the movable member so as to face the linear scale.

Abstract: A voice coil actuator includes a magnetic flux conductive material core, a magnet and an electrical current conductive coil. The core has a first surface and a continuous channel disposed in said first surface. The channel has a pair of opposing walls. The magnet is disposed in intimate contact with a first one of said walls and spaced from a second one of said walls so that a gap remains between the magnet and the second one of the walls. The magnet has a first face of a first magnetic polarity facing the first one of the walls and a second face of a second, opposite magnetic polarity facing the gap. The magnet is further spaced from a bottom of the channel so that magnetic flux is substantially normal from the second face across said gap to the second one of the walls.

Abstract: The invention relates to a resonance reducing arrangement for a device displaceable between two positions.In one described embodiment the device (14) is displaced against the resilience of a spring (11) by causing an electrical device (15) to accelerate the device (14) towards its second position, terminating the force accelerating the device (14) to allow the device to continue to displace towards the second position and then reactivating the electrical device (15) to cause the electrical device (15) to expand to that position at which it holds the device (14) in its second position.

Abstract: It is an object of the present invention to provide a linear pulse motor capable of being configured even if the number of salient poles of a stator is odd and having increased ampere-conductors of a winding and large driving force. The linear pulse motor includes a stator having a plurality of salient poles 11, 12, . . . 15 disposed at equal pitch angle and having an inner peripheral surface on which teeth 16 are formed in the direction of a shaft 16, and a mover 2 disposed movably in the shaft direction. A stator core 10 includes stator iron plates 30 laminated while rotated successively by the equal pitch angle of the salient poles. When k is an integer equal to or larger than 1, m is the number of phases, and n is equal to or smaller than m/2 and nearest to m/2, the stator iron plates 30 has km salient poles P1, P2, . . . P5.

Abstract: An improved X-Y-.theta. positioning mechanism or stage having a rectangular platform (2) upon which a workpiece to be moved is placed. The platform is positioned by bearings (6a, 6b), which ride along its edges. In the preferred embodiment, the bearings are mounted to the ends of perpendicularly overlapping tracks (8x, 8y). The tracks are linearly movable via corresponding forcing elements or motor coils (10x, 10y). The forcing elements are fixedly mounted to a main structure (14), to dissipate heat efficiently. Also in the preferred embodiment, positioning feedback for the stage includes an X-Y scale (4). Position sensors (12a, 12b) are mounted fixedly to the main structure directly under the X-Y scale. .theta. rotation is achieved when two tracks are used for the same X or Y axis, so that the platform rotates as these two tracks are positioned slightly offset from one another.

Abstract: A linear electromagnetic drive means comprises a coil with a controllable electric current flowing therethrough, magnetic poles assigned to the coil and an axially displaceable core biased by at least one spring in the region of the coil and the magnetic poles, whereby the core serves to control a control element by means of its displacement movement triggered by the electric current. The spring biasing the displaceable core has the design of a tube in which slits extending essentially radially are formed with flexible tube segments lying therebetween.

Abstract: An electrically operated actuator stores power in a capacitor for returning the actuator output element to a preselected position upon power failure. The actuator has a controller having input power terminals connected across the capacitor and control terminals for controlling the power applied from the input power terminals to the motor which comprises the actuator's prime mover. A sensor monitors the presence of power provided to the controller's input power terminals. When failure of this power is sensed, the capacitor current flows to the controller, and the sensor applies signals to an override circuit of the controller causing the controller to apply current from the capacitor to the actuator motor in a way which drives the actuator toward the preselected position. A properly selected capacitor is capable of supplying adequate current over a period of time sufficient to return the actuator to the preselected position.

Abstract: A linear motor has coil assemblies driven by multiple phases mounted side by side on a base plate such that they do not overlap. The coil assemblies include conductors wound upon teeth such that voids in the coil assemblies are minimized along with path lengths and thermal resistances between windings and the base plate, thus maximizing heat dissipation and the power capacity of the motor. The linear motor may have coil assemblies with teeth composed of a first material having desirable magnetic properties and a base plate composed of an inexpensive second material minimizing costs of materials. The teeth may be of varying lengths in or to further minimize voids. The coil assemblies are compactly mounted with a longitudinal axis normal to an axis of movement. Permanent magnets are mounted upon a back iron plate with axis of symmetry normal to the axis of movement.

Abstract: An a.c. electrical machine includes a plurality of first elements spaced from each other; a plurality of second elements spaced from each other and interstitially disposed with the first elements; a plurality of electrical windings on each of the first elements providing a current flow in a first direction; and a return for completing a magnetic flux path in a second direction perpendicular to the first direction on successive first elements and through the second elements for generating a force in a third mutually perpendicular direction between the first and second elements.

Abstract: A load limit system is provided for a linear actuator. An interface is athed to the linear actuator and is disposed between first and second spring assemblies. A first sensor senses a first amount of linear compression of the first spring assembly along a first direction. A second sensor senses a second amount of linear compression of the second spring assembly along a second direction. Movement of the linear actuator in the first direction ceases whenever the first amount of linear compression is sensed. Movement of the linear actuator in the second direction ceases whenever the second amount of linear compression is sensed.

Abstract: An alternating current electrical machine construction in which a primary winding is modified to create multiple transient electromagnetic conditions for example by having at least two distinct values of pole pitch. In a linear induction motor, a first pole-pitch portion (88, 90 and 92) is followed by a second portion (82, 84 and 86) of shorter pole-pitch. When an inductively coupled solid reaction rail passes from first to second reaction rail currents "memorized" from the first, propulsion, section cause current in the second, recovery section. This current can be of unity or leading power factor. Appropriate winding design permits the operation of the machine using an inverter (LCIA) without making provision for external reactive power supply. Part of the machine winding, the recovery section, functions as an asynchronous condenser (SAC) to compensate the reactive power components due to magnetic leakage flux.

Abstract: A linear index for a rectilinear driving device. This linear index divides a total driving section of the rectilinear driving device at regular intervals and forcibly drives and stops this device step by step using an electric signal, thus to precisely stop the piston of the cylinder at several random positions. The linear index comprises a linear index bar having a plurality of index protrusions spaced out at regular intervals, an index unit for moving the linear index bar step by step by 1/2 of the interval between the index protrusions in accordance with electric control signals, a main pneumatic cylinder connected to the linear index bar through a vertical connection member in order to cooperate with the linear index bar, and a programmable logic controller for outputting the electric control signals to the index unit.

Abstract: In a hybrid type stepping motor, variation in the torque is reduced to as low as possible, the torque stiffness is improved, and the resonant vibration during the rotating movement is minimized. Each fixed magnetic pole has two or more of small teeth thereof arranged at intervals of the same pitch as of the teeth of a rotor. The total number (NS) of the small teeth of a stator segment of an asymmetrical form is determined by NS=5.times.(n0+n1), where n0 is the number of the small teeth on each of five of the ten fixed magnetic poles and n1 is the number of the small teeth on each of the remaining five fixed magnetic poles. The fixed magnetic poles with the n1 small teeth are arranged alternate with the fixed magnetic poles with tile n0 small teeth. The n1 small teeth poles and the n0 small teeth poles are disposed opposite to each other about the axis of a rotary shaft.

Abstract: A method and system of generating power on a magnetically levitated vehicle. The vehicle includes a set of magnets and is supported for movement along a guideway having a multitude of traction conductors. An alternating current is conducted through these conductors to generate a moving electromagnetic field to propel the vehicle along the guideway The method includes the step of locating a plurality of electrically conductive power generation coils on the vehicle magnet, adjacent the guideway, so that harmonic components of the electromagnetic field generate a first electromagnetic force on the power generation coils. The method also includes: the step of conducting a single phase current through the traction conductors to generate a second electromagnetic force on the power generation coils. These first and second electromagnetic forces produce a current in the power generation coils that may be used to supply power on the vehicle.

Abstract: A direct current motor drive apparatus generating low levels of heat is described. A pulse width modulation signal, generated by a pulse width modulator corresponding to a torque command signal, is applied to a Hall effect element. The Hall effect element then generates an output corresponding to the number of lines of magnetic force of a field magnet on the moving side. After this output is amplified by an operational amplifier, waveform shaping is performed by first and second comparators. The resulting signals are then amplified by first and second power amplifiers and supplied to excitation coils.Since waveform shaping is performed on the signal applied to each of the power amplifiers mentioned above, the power amplifiers operate in a region of roughly complete switching, thereby suppressing the generation of heat.

Abstract: An energy storage apparatus is disclosed in which a plurality of permanent magnets are used to store kinetic energy. The apparatus includes first and second fixed magnets which are positioned a guide rod. A third moveable magnet is mounted on a guide rod which allows movement of the third magnet between a charged position in which the magnet's like pole is proximal the one fixed magnet and an uncharged position in which the opposite pole is adjacent the other fixed magnet. A locking mechanism is provided for locking the third magnet in the charged position and allowing selective release. A power transmission mechanism is provided for receiving the energy to be stored and to move the third magnet from the uncharged position to the charged position. To increase the storage capability of the apparatus, a plurality of power-enhancing magnets are positioned on the axis between the movable magnet and the fixed magnet having an opposite pole facing the movable magnet.

Abstract: A motive power generating device comprises a permanent magnet disposed around a rotational output shaft for rotation therewith, the output shaft being mounted on a support member for rotation, a magnetic body disposed in concentric relationship with the permanent magnet for rotation with the rotational output shaft, the magnetic body being subjected to magnetic flux generated by the permanent magnet, a plurality of electromagnets fixedly mounted to the support member in such a manner that they are spaced at predetermined distances around the periphery of the magnetic body, each magnetic circuit of the electromagnets being adapted to be independent of one another, and excitation change-over means for the electromagnets, the excitation change-over means being adapted to sequentially magnetize one of the electromagnets which is positioned forwardly with regard to a rotational direction of the rotational output shaft, so as to impart to the particular electromagnet a magnetic polarity opposite to that of the magn

Abstract: A voice coil actuator includes a magnetic flux conductive material core, a magnet and an electrical current conductive coil. The core has a first surface and a continuous channel disposed in the first surface. The channel has a pair of opposing walls. The magnet is disposed in intimate contact with a first one of the walls and spaced from a second one of the walls so that a gap remains between the magnet and the second one of the walls. The magnet has a first face of a first magnetic polarity facing the first one of the walls and a second face of a second, opposite magnetic polarity facing the gap. The magnet is further spaced from a bottom of the channel so that magnetic flux is substantially normal from the second face across the gap to the second one of the walls.

Abstract: An energy storage apparatus is disclosed in which a plurality of permanent magnets are used to store kinetic energy. The apparatus includes first and second fixed magnets which are positioned a distance apart along a longitudinal axis with both magnets having a like magnetic pole facing the distance between the magnets. A third moveable magnet is mounted on a guide rod which allows movement of the third magnet between a charged position in which the magnet's like pole is proximal the one fixed magnet and an uncharged position in which the opposite pole is adjacent the other fixed magnet. In the charged position, the magnetic fields of the adjacent like poles of the moveable magnet and the fixed magnet create a strong repelling force which urges the third magnet towards the uncharged position and the attraction forces created by the opposite poles of a moveable magnet and the other fixed magnet also draws the moveable magnet towards the uncharged position.

Abstract: A linear motor of the type used to control the radial position of a write/read transducer relative to a rotating data storage disk comprises an elongated tubular-shaped permanent magnet which concentrically surrounds and is spaced, by an air gap, from an elongated pole piece of highly permeable material (e.g. steel). A selectively energizable coil, concentrically arranged between the magnet and pole piece, is adapted to move axially in response to an applied current. According to the invention, the pole piece supports a plurality of "shorting rings" made of high conductivity, low permeability material. The shorting rings are embedded in the pole piece so as to be coextensive with the surface thereof. The spaced shorting rings function as a "shorted turn" which operates to reduce the rise time of current applied to the coil without significantly reducing the magnetic flux in the air gap through which the coil is linearly driven.

Abstract: A control system that increases apparent linear motor stiffness and faster frequency for a digital electronic drive of one or more brushless DC linear motors.

Abstract: A vertically carrying apparatus comprising a carrying capsule that has a space for accommodating an object which is to be carried, the capsule incorporating a horizontal superconducting coil, and armature coils that are vertically arranged side by side outside the carrying capsule, wherein upward thrust force is obtained by a correlation between a persistent current that flows in the superconducting coil and magnetic fields that are produced around the armature coils.The vertically carrying apparatus further comprises a coil support device which includes the superconducting coil, a coil support member that supports the superconducting coil, a helium vessel that accommodates the superconducting coil and the coil support member and that also supports the coil support member through an oscillation preventing member, and a vacuum vessel that accommodates and supports the helium vessel.

Abstract: This invention is for magnetic actuators which are composed of individually controlled layers. Each layer comprises a stationary sheet 34, a movable sheet 30 and a roller 40 between the sheets. Each layer may either have ribs 32 or sheet portions having conductors, remanent portions or permeable portions which apply a magnetic force against the roller to move the sheets. The magnetic force may be between a current carrying roller and a current carrying rib or sheet portion, a current carrying roller and a remanent rib or sheet portion, a current carrying roller and a permeable rib or sheet portion, a magnetic roller and a current carrying rib or sheet portion, or a permeable roller and a current carrying rib or sheet portion. The sheets in each layer may be moved in parallel or normal directions. When the layers are stacked, actuators may be made. The actuators can be controlled in pairs or larger groups to position and move objects and motor shafts. Thus motors generators and actuators can be made.

Abstract: A power drive system for use in a linear motor propulsion system for powering and propelling a train of a predetermined length along a track. The power drive system includes a plurality of drive coils spaced along the track electrically connected together to form a set of coils. The distance along the track between adjacent coils in a set is greater than the train length. A plurality of sets of coils are interdigitated with each other, with the distance between adjacent coils from different sets spaced closely together to provide that a group of coils, each from different sets is adjacent the train at all locations along the track. The drive system also includes a plurality of inverters, each inverter connected to a set of coils.

Abstract: A closed loop control and a closed loop control method use frequency filters for controlling the width of an air gap in an electromagnetic levitation system between a machine bed and a mass, such as a machine to be levitated. The control includes closed loop control elements to electromagnetically simulate a mechanical spring having a variable, sonic frequency-dependent spring characteristic including the spring rate and damping for providing an acoustic insulation to prevent vibration transmissions into the machine bed. The control element includes filters responsive to sonic frequencies. The closed loop control supports and guides the levitated machine within narrow air gap widths in the very low frequency range and prevents the transmission of vibration forces to the machine bed in the low, medium and high frequency ranges.

Abstract: Disclosed is a method for driving a printer carrier. One power source is connected via a constant current circuit to the carrier motor. Data storing means stores the current command data corresponding to the acceleration, constant speed printing and deceleration of the carrier motor. According to the method, the current command data from the data storing means is latched in synchronism with a clock signal. The latched data is converted to a current reference voltage. The output current of the constant current drive circuit is varied in accordance with the current reference voltage. Changing the current command data as desired makes it possible to adjust freely the torque of the carrier motor for acceleration and deceleration on a constant voltage from one power source.

Abstract: A shuttle printer having a print shuttle unit capable of reciprocating with a print head mounted thereon, and a balance shuttle unit capable of reciprocating to generate counterforce to momentum of the print shuttle unit. The shuttle printer includes a device for driving the print shuttle unit to reciprocate, and a device for driving the balance shuttle unit to reciprocate. The shuttle printer further includes a device for detecting the position of the print shuttle unit, and a device for synchronously controlling the two driving devices in response to a result of detection by the print shuttle unit position detecting device.

Abstract: A control for brushless motors having polyphase moving coil armatures, sinusoidal commutation, and integral linear hall effect commutation sensors providing a correction signal such that the sum of the squares of the commutation signals is maintained at a predetermined constant. A sum squared correction means is used to provide an error correction signal feedback to magnetic field sensors or hall effect commutation sensors used to provide a sinusoidal commutation signal for each phase of a three phase moving coil armature such that the sum of the squares of each signal representative of the commutation signal is forced to be a predetermined constant. This has the effect of substantially reducing the motor force or torque variations typically occurring with such brushless electric motors having sinusoidal commutation. The motor force or torque variations are due in part to the hall effect sensor or magnetic field sensor gain and offset errors.

Abstract: A label inserter and method for supply of labels to a mold of a blow molding machine for the production of in-mold labeled plastic products in which a label carrying, vertically liftable beam extending from a carriage driven by a computer controlled linear motor sets labels in the recesses of a mold as it moves into alignment for receipt of a portion of parison to be blown into the desired product. As disclosed the mold is driven along an upwardly inclined path toward the parison and the linear drive support and carriage are drawn thereby along a parallel path in unison with the mold. After insertion of labels, the beam is withdrawn for receipt of additional labels whereupon the carriage and label loaded beam are advanced to a position just outside the path of mold movement to await return and opening of the mold for another cycle of label insertion. Label holders on both sides of the insert beam swing outwardly for receipt of labels and for deposition of labels in the recessed walls of the mold.

Abstract: A linear motor having a magnetic circuit and a moving coil, the magnetic circuit comprising a linear yoke provided at the center of the circuit and a pair of linear magnets, the linear yoke and the pair of linear magnets forming a pair of linear gaps with the linear yoke interposed therebetween, the magnetic circuit applying a magnetic field to the linear gaps, the movable coil mounted on the linear yoke of the magnetic circuit being moved along the linear yoke by an electromagnetic action to the magnetic circuit when the movable coil is powered, wherein the linear magnet has a larger magnetic force at opposite end portions in the longitudinal direction of the linear magnet than at an intermediate area, the magnetic reluctance of the magnetic circuit is made large to obtain a driving current of the movable coil corresponding to the magnetic reluctance when the moving coil moves at the intermediate area of the linear magnet, or the magnetic circuit is mounted on a plate made of material having the same magneti

Abstract: A shuttle apparatus for a printer having a print shuttle unit driven to reciprocate. The print shuttle unit includes a print shuttle provided with a print head and movable along a guide device. A row of permanent magnets are attached to the print shuttle, and a row of electromagnetic coils are secured to a stationary member so as to face the permanent magnets across a gap. The coils and the permanent magnets constitute a linear motor for reciprocating the print shuttle unit along the guide device. A balance shuttle unit having approximately the same weight as that of the print shuttle unit is disposed so that the center of gravity of the balance shuttle unit travels on a line approximately the same as the line of travel of the center of gravity of the print shuttle unit. The balance shuttle unit is driven to reciprocate in linked relation to the print shuttle unit in parallel but reverse in direction to the print shuttle unit.

Abstract: A polar motion bond head for bonding semiconductor devices includes voice coil motors for providing positioning motion to the bond head, and a vision system that has an optical path that allows the camera to see all polar positions with the image staying on the camera centerline.

Abstract: An embodiment has an armature member having a linear core with transverse open slots distributed over its length. Two sets of coils are disposed in the slots and distributed over the length of the core preferably in an overlapping interlaced pattern such that when the sets of coils, or corresponding sub-sets of the coils, are simultaneously energized the magnetic forces produced by one augments the forces produced by the other to produce a greater total force. The armature member also has disposed on opposite sides of the core and parallel to the core a pair of linear commutators. A field member has a carriage which travels rectilinearly along the core between the commutators. Dual sets of brushes are linearly mounted on the carriage at opposite sides to communicate with the commutators. The dual sets of coils can be energized in parallel or in series via the brush/commutator contacts or each set of coils can be energized separately by independently powering the set's corresponding set of brushes.

Abstract: A linear motor provides stepwise, incremental advance of a moveable output member. First and second, spaced latches are movably coupled to the output member. A selectively energizable driver engages and moves the first latch into fixed engagement with the output member and continues to move the engaged first latch and output member a predetermined incremental advance distance. The second latch is biased to retain the output member in each successive incremental advance position while the first latch is being reset. In one embodiment, the driver is a motor having a rotatable output shaft with an eccentric cam mounted thereon. The eccentric cam engages the first latch to move the first latch into fixed engagement with the output member and to advance the fixedly engaged first latch and output member an incremental advance distance. A second latch is provided to hold the output member from movement in a direction opposite from the incremental advance direction.

Abstract: A return plate for the voice coil motor of a disk drive is disclosed, wherein the angular positions of the top and bottom plates of the return plate are aligned by employing slot shaped voids and anchoring features. The bottom plate is anchored by a tight tolerance coupling to an actuator mounting boss in the base plate of the disk drive. The angular position of the bottom plate is controlled by a slot shaped hole that couples with a tight tolerance in a narrow dimension to an alignment boss in the base plate. The top plate is anchored to the base plate, and the angular position of the top plate is controlled by a slot shaped standoff that couples with a tight tolerance in a narrow dimension to the alignment boss.

Abstract: In a power supply system for a linear stator motor, the installed operating means should be utilized in an optimum manner, while the losses due to energy transfer should be maintained as low as possible. For this purpose, the cable route systems should be connected with each other by at least one controllable coupling switch, in such a way that the switching segment in which the vehicle is located at any particular time is always connected with all the cable route systems.

Abstract: A DC linear motor in which a position and a speed of a movable part relative to a stator can be easily detected by a displacement sensor and a sensor target. The displacement sensor is fixed on the movable part, and the sensor target is fixed on the stator. By properly selecting a shape of the sensor target, a distance y between the sensor target and the displacement sensor corresponds, one to one, to a distance between an initial point of the movable part 1 and a present position thereof. For example, the sensor target may be a plate declined with respect to a direction of motion of the movable part.

Abstract: An apparatus for multi-axis rotational motion includes a spherical structure (102) and a housing (104), the housing (104) at least partially enclosing the spherical structure (102) and movably coupled thereto. Magnetically compliant poles (106, 107, 108, 109) are mechanically coupled to one of the spherical structure (102) and the housing (104), and a magnetic drive mechanism (114) is mechanicanically coupled to the other one of the spherical structure (102) and the housing (104) for magnetically imparting up to substantially 360 degrees of rotational motion between the spherical structure (102) and the housing (104) in multiple axes by magnetically interacting with the magnetically compliant poles (106, 107, 108, 109). Optionally, at least one of the spherical structure (102) and the housing (104) couples the rotational motion to another object (1906) mechanically coupled thereto via surface coupling.

Abstract: Control method and apparatus for a moveable control member with n observed states, the apparatus incorporating a sliding mode control system, operable to maintain the state point of the moveable member on a predetermined hyperplane having n-1 dimensions, and comprising digital processor means operable to reference, at a first frequency, n-1 low order observed states to the predetermined hyperplane to establish a desired value of the highest order observed state, the control system further comprising comparator means operable to compare, at a second frequency, said desired value with the observed highest order state, the first frequency being less than the second frequency, and means responsive to the comparator means and operable to implement the control action necessary to maintain the state point on the predetermined hyperplane.

Abstract: A driving device for a multipolar type linear DC motor using a PWM (pulse width modulation) driving signal for driving a linear DC motor by causing an excitation coil of the motor, placed in alternating fields, to generate an induction field, and switching polarities of the induction field. The device includes a magnet polarity detecting circuit for detecting a direction of a magnetic field acting on the excitation coil in the alternating fields, an electric filter for removing an output signal output from the magnet polarity detecting circuit and having the same period as a PWM drive period, and polarity switching control circuit for controlling a direction and generation time of an induction field generated by the excitation coil in accordance with an output signal from the magnet polarity detecting circuit.

Abstract: Apparatus for using an integrated diode array, also called a position sensing detector, which indicates the position of a spot of electromagnetic radiation along a sensitive strip, to measure angular rotation of a stationary shaft from a zero point. A beam of infrared or laser radiation is reflected from a mirror set at an angle other than 90 degrees to the shaft axis, located on a free end of the shaft. The reflected beam falls on the integrated diode array, its position being proportional to the tangent of the angle from the zero point (preferably the center of the sensitive area). The sum of analog voltage signals from both ends of the sensitive area is held constant by second electronic means through feedback monitoring of the radiation source power (beam intensity).

Abstract: A control device for an ultrasonic motor for controlling to drive the ultrasonic motor according to a logical AND operation between a control pulse having a duty ratio changing from 100% to 0% according to a moving position of the ultrasonic motor and a driving signal having a resonance frequency of the ultrasonic motor. Accordingly, after starting the ultrasonic motor at a maximum speed, a moving speed of the ultrasonic motor can be gradually reduced until it reaches a target position, and when reaching the target position, the ultrasonic motor can be stopped precisely at the target position.

Abstract: A linear motor control system and method to increase apparent motor stiffness by providing linear motor resistance to perturbations caused by external forces exerted on a slide mass and a base mass. Primary and secondary sensors detect the accelerations of the slide mass and the base mass relative to ground and generate acceleration signals corresponding thereto. A position detector senses the position of the slide mass relative to the base mass and generates a position signal corresponding thereto. A signal processor processes the first and second acceleration signals and the position signal to determine deviations in the position, velocity and acceleration of the slide mass relative to the base mass from selected values caused by the external forces, and to generate a motor control signal to provide linear motor resistance against such deviations.

Abstract: A moving coil linear motor having a central row of alternating, permanent magnets, with multi-phase, multi-pole coil assemblies located on both sides of the magnet row. Magnetic circuit completion material is located approximately the same height as the magnets and outside the coil assemblies. The coil assemblies are formed of a series of individual coils connected in a multi-phase, multi-pole relationship. At locations other than the coil assembly ends, the individual coils of a phase are adjacent and connected so that a current passes through them in a uniform direction. The individual coil total width is equal to the distance from a point on a magnet to the same point on the adjacent magnet, with the individual coil thickness being the total width divided by twice the number of phases. The coil assembly is coated with an epoxy to improve thermal mass and thermal conductivity and a phenolic to resist abrasion and the environment.

Abstract: An electro-mechanical actuator has a ferrous alloy armature movably mounted within a body chamber. Two axially-spaced permanent magnets are arranged radially inwardly of the chamber and partially define the chamber at the ends thereof. A coil surrounds the chamber. The body is formed of a magnetically-permeable material. Because of the high reluctance of the magnets, each magnet forms a short magnetic loop which passes through the adjacent air gap, and forms a long magnetic loop which encircles the coil and passes through the distant air gap. The armature has a bistable toggle-like movement, and may be latched proximate either end wall. If springs are added between the armature and the body, the improved actuator may be used as a proportional position of force transducer within an operating range of armature movement.