MULTI-DEGREE-OF-FREEDOM MOTOR

摘要

The torque of a motor equipped with a spherical rotor which can be rotated with multiple degrees of freedom is made constant so that the rotation of the motor can be controlled minutely. A large number of projections (30) made of a magnetic material are arranged on the surface of the spherical rotor (21). A stator (23) having a spherical surface is provided on the rotor (21) at a prescribed interval. In the stator (23), electromagnets are buried at prescribed intervals. The rotor (21) is floated from a spherical static pressure bearing (25) so that the rotor (21) can rotate freely by jetting gas supplied from a pressure gas cylinder (26) through a pressurizing pipe (29). The position of the rotor (21) is controlled accurately by exciting the electromagnets of the stator (23) and consequently the rotor (21) can come to a prescribed position in a space defined by alpha , beta , and gamma axes by utilizing the action between the projections (30) of the rotor (1) and the excited electromagnets.