US9893574B2 – Multi-degree Of Freedom Spherical Actuator – Google Patents

  • Cox NJ, Subbarao K. “Influenza”. Lancet. 1999 Oct 9;354(9186):1277-82. PMID 10520648
  • Inflamación de los senos
  • Expediciones de alta montaña
  • Cirugía, si el desgarre es fuerte
  • Temor extremo a conocer gente nueva
  • Disminución de fibrosis en cicatrices hipertróficas y zonas fibróticas
  • Utilizar protección solar todos los días

Some of the embodiments and implementations are described above in terms of functional and/or logical block components (or modules) and various processing steps. For example, an embodiment of a system or a component may employ various integrated circuit components, e.g., memory elements, digital signal processing elements, logic elements, look-up tables, or the like, which may carry out a variety of functions under the control of one or more microprocessors or other control devices. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality.

Moreover, while a relatively simple sinusoidal two-phase commutation technique is depicted and described herein, various other types of two-phase commutation techniques, such as block commutation, may also be used. It will additionally be appreciated that the arc length of the magnets 106 may be varied, and that the magnets 106 may be permanent magnets or, if needed or desired, electromagnets.

Dolores Musculares Causas

3, an example of the torque that is generated when one of the coils 202 is energized will now be described. 13A and 13B. As depicted therein, the multi-degree of freedom spherical actuator 100 is configured very similar to the previously described embodiments, and thus includes a spherical stator 102, an armature 104, a plurality of magnets 106, and a plurality of coils 202. One difference, however, is that that spherical stator 102 includes a plurality of spaced-apart protrusions 1302 (e.g., 1302-1, 1302-2, 1302-3,. The control 902 may be configured to implement this functionality using either open-loop control or closed-loop control.

However, it should be appreciated that such block components (or modules) may be realized by any number of hardware, software, and/or firmware components configured to perform the specified functions. Such sensors may be implemented using optical sensors, track balls, rotary sensors, or the like. Thermal management of the multi-degree of freedom spherical actuator 100 may be implemented using various techniques.

It will be appreciated that data and power may be transmitted to and from the coils 108 and position sensor(s) 904 (if included), using any one of numerous techniques. The armature is spaced apart from, and surrounds at least a portion of, the spherical stator. 1) are coupled to, and extend inwardly from, the inner surface 116 of the armature 104, and are spaced apart from the spherical stator 102. In the depicted embodiment, as shown more clearly in FIG.

The magnets are coupled to, and extend from, the inner surface of the armature, and each of the magnets is spaced apart from the spherical stator. In yet another embodiment, a multi-degree of freedom actuation control system includes a spherical stator, a first coil, a second coil, a third coil, an armature, a plurality of magnets, and a control. In another embodiment, a multi-degree of freedom spherical actuator, includes a spherical stator, a first coil, a second coil, a third coil, an armature, and a plurality of magnets. 2, the spherical actuator 100 includes a plurality of magnets 106. Que es dolor muscular . In the depicted embodiment, the spherical actuator 100 includes a pair of magnets-a first magnet 106-1 and a second magnet 106-2. It will be appreciated, however, that in other embodiments more than two magnets 106 may be used.

The multi-degree of freedom spherical actuator 100 disclosed herein is relatively smaller, less cumbersome, and more efficient than known devices. The first coil 202-1 is wound on the spherical stator 102 about the first axis of symmetry 108-1, the second coil 202-2 is wound on the spherical stator 102 about the second axis of symmetry 108-2, and the third coil 202-2, when included, is wound on the spherical stator 102 about the third axis of symmetry 202-3. It should be noted that a sphere has an infinite number of axes of symmetry. Thus, the first, second, and third axes of symmetry 108-1, 108-2, 108-3, could be any one of these axes of symmetry, so long as all three axes of symmetry are perpendicular to each other. The first coil is wound on the spherical stator about the first axis of symmetry, and the second coil is wound on the spherical stator about the second axis of symmetry.