MOTOR ASSEMBLY ALLOWING OUTPUT IN MULTIPLE DEGREES OF FREEDOM

摘要

A motor allowing multiple degrees of output freedom is disclosed. The motor includes a stator having an interior surface forming at least a portion of a sphere or curved surface and first and second substantially orthogonally positioned stator coils wound on the interior surface. A rotor is fixed to an output shaft and movably supported adjacent the stator with an air gap disposed between the rotor and the stator. The rotor includes a plurality of magnets disposed thereon and is movable along the interior surface in directions defining at least first and second degrees of freedom. Upon energization of the first stator coil, a first magnetic field is established to force at least a first one of the magnets and the rotor in a direction in the first degree of freedom. Upon energization of the second stator coil, a second magnetic field is established to force at least a second one of the magnets and the rotor in a direction in the second degree of freedom. There is also provided a method of providing force feedback to joystick handle in response to manipulation of the handle by a user. The method includes: providing a motor consistent with the invention for driving the joystick; sensing a position of the joystick; and energizing at least one of the coils based on the sensed position to establish the feedback force against at least a first one of the magnets and the rotor.