ACTUATOR WITH OPPOSING REPULSIVE MAGNETIC FORCES

摘要

A new class of actuators and mechanisms use opposing repulsive magnetic forces. The repulsive forces are typically generated between a stationary magnet (101' and 101'') and a moving magnet (110' and 110''), where the moving magnet is coupled to the mechanism output member (123). The mechanisms are generally configured such that the repulsive force from one electromagnet (101') is opposed by a repulsive force from another electromagnet (101''), where the opposing forces are simultaneously applied to the mechanism's output member. The opposing configuration allows for open loop control of position and stiffness. The actuator mechanism may have both rotary and linear motion output, and may have either a single degree of freedom or multiple degrees of freedom. Permanent magnets can be used to create a baseline repulsive force without electrical power, and electromagnets can modulate the repulsive force magnitude. Applications include force feedback joysticks, adjustable stiffness devices and high bandwidth mechanisms.