CORELESS ELECTROMECHANICAL DEVICE, MOBILE UNIT, ROBOT, AND MANUFACTURING METHOD OF CORELESS ELECTROMECHANICAL DEVICE

摘要

A coreless electromechanical device includes permanent magnets provided in a first member, M (M is an integer number equal to or more than two) phases of α-wound air core electromagnetic coils provided in a second member, and a coil back yoke provided in the second member, wherein the electromagnetic coil has two effective coil regions that generate force for relative rotational transfer of the first member with respect to the second member and two coil end regions, and the coil end regions of at least the (M-1) phases of electromagnetic coils of the M phases of electromagnetic coils are bent toward an inner circumference side or an outer circumference side of a cylindrical surface containing the cylindrical region so as not to interfere with the coil end regions of the other phases of electromagnetic coils.