JPH0734639B2 - 3 degrees of freedom DC motor - Google Patents

3 degrees of freedom DC motor

Info

Publication number
JPH0734639B2
JPH0734639B2 JP60044148A JP4414885A JPH0734639B2 JP H0734639 B2 JPH0734639 B2 JP H0734639B2 JP 60044148 A JP60044148 A JP 60044148A JP 4414885 A JP4414885 A JP 4414885A JP H0734639 B2 JPH0734639 B2 JP H0734639B2
Authority
JP
Japan
Prior art keywords
axis
motor
coil
stator
commutator
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
JP60044148A
Other languages
Japanese (ja)
Other versions
JPS61203860A (en
Inventor
智昭 矢野
真 金子
Original Assignee
工業技術院長
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 工業技術院長 filed Critical 工業技術院長
Priority to JP60044148A priority Critical patent/JPH0734639B2/en
Publication of JPS61203860A publication Critical patent/JPS61203860A/en
Publication of JPH0734639B2 publication Critical patent/JPH0734639B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/02—Linear motors; Sectional motors
    • H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
    • H02K41/031—Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
    • B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
    • B23Q1/545—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K2201/00—Specific aspects not provided for in the other groups of this subclass relating to the magnetic circuits
    • H02K2201/18—Machines moving with multiple degrees of freedom

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electromagnetism (AREA)
  • Power Engineering (AREA)
  • Dc Machiner (AREA)
  • Reciprocating, Oscillating Or Vibrating Motors (AREA)

Description

【発明の詳細な説明】 ［産業上の利用分野］ 本発明は、ロボットアームの関節部等に利用する３自由
度回転モータに関するものである。DETAILED DESCRIPTION OF THE INVENTION [Industrial field of use] The present invention relates to a three-degree-of-freedom rotary motor used for a joint part of a robot arm or the like.

［従来の技術］ 本発明者らは、先に、三つの自由度を備えた３次元モー
タを提案した（特願昭59−60058号）。上記３次元モー
タは、互いに直交する３方向の軸のまわりにそれぞれ回
転磁界を発生させる巻線を設け、それによって任意の方
向の合成回転磁界を発生可能としたステータ内に、任意
の方向に回転可能に支持されたロータを設けることによ
り構成したものである。[Prior Art] The present inventors previously proposed a three-dimensional motor having three degrees of freedom (Japanese Patent Application No. 59-60058). The three-dimensional motor is provided with windings for generating rotating magnetic fields around axes in three directions orthogonal to each other, thereby rotating in arbitrary directions within a stator capable of generating a combined rotating magnetic field in arbitrary directions. It is configured by providing a rotor that is supported as possible.

しかるに、この３次元モータは、同期モータあるいは誘
導モータとして構成されるものであり、制御系が直流モ
ータに比して複雑となるという問題がある。However, this three-dimensional motor is configured as a synchronous motor or an induction motor, and there is a problem that the control system is more complicated than a DC motor.

［発明が解決しようとする問題点］ 本発明の目的は、上記３次元モータを汎用の１自由度直
流モータにおけると同様の簡単な制御方法によって制御
可能にした３自由度の直流モータを提供することにあ
る。[Problems to be Solved by the Invention] An object of the present invention is to provide a three-degree-of-freedom DC motor that can control the three-dimensional motor by a simple control method similar to that in a general-purpose one-degree-of-freedom DC motor. Especially.

［問題点を解決するための手段］ 上記目的を達成するため、本発明の３自由度直流モータ
は、中空状に構成した適数の磁極を有するステータに、
直交する３軸のまわりの回転を可能にしたジンバル構造
を介して、上記３軸方向の極間に三つのコイルを設けた
ロータを収容し、上記ジンバル構造における直交３軸方
向の相対的回転部分に、ステータにおける磁界の方向と
の関係において各コイルに所要の向きに電流を流す整流
子機構を設け、上記各コイルをそれぞれの軸における整
流子機構を介して直流電源に接続することにより構成さ
れる。[Means for Solving the Problems] In order to achieve the above object, the three-degree-of-freedom DC motor of the present invention includes a stator having an appropriate number of magnetic poles formed in a hollow shape.
A rotor having three coils provided between the poles in the three-axis directions is housed via a gimbal structure capable of rotating about three orthogonal axes, and a relative rotating portion in the three-axis orthogonal directions in the gimbal structure. Is provided with a commutator mechanism that causes a current to flow in a desired direction in each coil in relation to the direction of the magnetic field in the stator, and is configured by connecting each coil to a DC power source via the commutator mechanism in each axis. It

［作 用］ 上記構成を有する本発明の直流モータにおいては、ロー
タにおけるコイルに直流電流を流すと、ステータによっ
て生じる磁界との相互作用により、それらのコイル（ロ
ータ）に対して回転力が作用し、ロータが直交する三つ
の軸のまわりに任意に回転することになる。而して、各
コイルに流れる電流は整流子機構によって適宜反転する
ため、各コイルによるロータの三つの軸のまわりの回転
が必要な範囲で継続される。[Operation] In the DC motor of the present invention having the above configuration, when a DC current is passed through the coils in the rotor, a rotational force acts on the coils (rotor) due to the interaction with the magnetic field generated by the stator. , The rotor will rotate arbitrarily around three orthogonal axes. Thus, the current flowing in each coil is appropriately inverted by the commutator mechanism, so that the rotation of each coil around the three axes of the rotor is continued within a necessary range.

［発明の効果］ 本発明によれば、３自由度の直流モータを実現すること
ができ、汎用の電気式１自由度直流モータにおけると同
様に、ステータ側に形成される磁界とロータ側のコイル
に供給する電流との相互作用により生じる電磁力を駆動
力として用いるようにしたので、制御系の単純化及び製
品全体としての小形軽量化が達成される。[Advantages of the Invention] According to the present invention, a DC motor having three degrees of freedom can be realized, and a magnetic field formed on the stator side and a coil on the rotor side can be formed as in a general-purpose electric one-degree-of-freedom DC motor. Since the electromagnetic force generated by the interaction with the current supplied to is used as the driving force, simplification of the control system and reduction in size and weight of the entire product can be achieved.

［実施例］ 本発明の実施例を説明するに先立って、本発明の直流モ
ータの動作原理を説明する。[Embodiment] Prior to describing an embodiment of the present invention, the operation principle of the DC motor of the present invention will be described.

第１図において、1,2,3はコイルであり、それらは互い
に直交するｘ軸、ｙ軸及びｚ軸上に極を有する状態にし
て一つの球面上に相互に絶縁した状態で捲回していると
する。また、上記各コイル１〜３に磁界を作用させるた
め、第２図に示すように、二つの半球状の永久磁石4,4
を用い、その一方のＮ極、他方をＳ極として、磁束が球
の中心方向に向くように形成しておく。而して、この永
久磁石4,4内に上記コイル１〜３をｘ軸、ｙ軸及びｚ軸
のまわりに回転可能な状態で収容し、各コイル１〜３に
電流を流せば、その電流を流したコイルが磁界との相互
作用によって回転力を受け、例えばコイル１に電流を流
した場合にはｘ軸のまわりに回転し、コイル２に電流を
流した場合にはｙ軸のまわりに、コイル３に電流を流し
た場合にはｚ軸のまわりに回転し、また複数のコイルに
電流を流した場合には複数の軸のまわりに複合回転する
ことになる。なお、コイルを一方向に連続的に回転させ
るには、それに流れる電流の向きを整流子により電気角
180゜毎に反転することが必要である。In FIG. 1, 1, 2 and 3 are coils, which are wound in a state in which they have poles on the x-axis, y-axis and z-axis which are orthogonal to each other and are insulated from each other on one spherical surface. Suppose Further, in order to apply a magnetic field to the coils 1 to 3, as shown in FIG. 2, two hemispherical permanent magnets 4, 4 are used.
Is used as an N pole and the other is an S pole so that the magnetic flux is directed toward the center of the sphere. Then, if the coils 1 to 3 are housed in the permanent magnets 4 and 4 in a rotatable state around the x-axis, the y-axis, and the z-axis, and the current is passed through the coils 1 to 3, the current When a current is passed through the coil 1, it is rotated around the x-axis, and when a current is passed through the coil 2, it is rotated around the y-axis. When a current is applied to the coil 3, the coil 3 is rotated around the z-axis, and when a current is applied to a plurality of coils, the coil 3 is rotated about a plurality of axes. In order to rotate the coil continuously in one direction, the direction of the current flowing in
It is necessary to invert every 180 °.

本発明は、上記原理に基づいて構成したものであり、そ
の実施例を示す第３図において、11はロボットアーム等
に固定される静止系の基体であって、この基体11にステ
ータ12が固定される。このステータ12は、第２図に示し
た永久磁石4,4と同様に、中空球状の永久磁石によって
構成し、その半分をＮ極に、他の半分をＳ極にして、そ
の一部を切欠くことにより出力軸取出口13を開口させて
いる。なお、このステータ12は、必ずしも永久磁石によ
って構成する必要がなく、所要位置に電磁石を配置した
中空球状の部材等によって構成することができる。The present invention is constructed on the basis of the above-mentioned principle. In FIG. 3 showing an embodiment of the present invention, reference numeral 11 denotes a stationary base body fixed to a robot arm or the like, to which the stator 12 is fixed. To be done. Similar to the permanent magnets 4 and 4 shown in FIG. 2, this stator 12 is composed of hollow spherical permanent magnets, half of which is an N pole and the other half is an S pole, and a part of it is cut. The output shaft outlet 13 is opened by the lack. The stator 12 does not necessarily have to be made of a permanent magnet, but can be made of a hollow spherical member having an electromagnet arranged at a required position.

上記ステータ12内に任意の方向に回転可能に支持された
ロータ14は、第１図に示すように捲回された３組のコイ
ルを備えている。即ち、出力軸杆15を突出したの回転体
16の周囲に、ｘ軸、ｙ軸及びｚ軸のまわりの回転を司る
三つのコイル17,18,19が互いに絶縁状態に捲回されてい
る。従って、それらの各コイル17〜19にそれぞれ所定の
方向に直流電流を流せば、ステータ12内の磁界との相互
作用によって、ロータ14が、任意の軸のまわりにおい
て、出力軸取出口13で制限された範囲内ではあるが、所
要の角度だけ３自由度の回転を行い、その回転量が出力
軸杆15から取出されることになる。The rotor 14 rotatably supported in the stator 12 in an arbitrary direction includes three sets of wound coils as shown in FIG. That is, the rotating body that protrudes the output shaft rod 15.
Three coils 17, 18 and 19 which control rotation about the x-axis, the y-axis and the z-axis are wound around 16 in an insulated state. Therefore, if a direct current is applied to each of the coils 17 to 19 in a predetermined direction, the rotor 14 is restricted around the arbitrary axis by the output shaft outlet 13 by interaction with the magnetic field in the stator 12. Although it is within the range, the rotation amount of three degrees of freedom is rotated by a required angle, and the rotation amount is taken out from the output shaft rod 15.

しかるに、上記回転体16上のコイル17〜19に対して所定
の方向に電流を流す必要があり、このため、上記回転体
16は第４図に示すようなジンバル構造によって支持さ
せ、このジンバル構造内におけるｘ軸、ｙ軸及びｚ軸の
まわりの回転部分に整流子機構を設けている。However, it is necessary to apply a current to the coils 17 to 19 on the rotating body 16 in a predetermined direction.
16 is supported by a gimbal structure as shown in FIG. 4, and a commutator mechanism is provided in a rotating portion around the x-axis, y-axis and z-axis in this gimbal structure.

即ち、上記回転体16は、基体11と一体化されている固定
部22において、ｚ軸まわりに回転可能に連結した回転軸
杆24との間に整流子機構23を設け、その軸杆24に固定し
たほぼ円弧状の支持腕25の両端支持部26,26間に、直交
する２軸に沿った放射状の腕28,29を設けた回転腕体27
における一方向の腕28,28を回転可能に取付けて、その
腕28と上記支持腕25との間に整流子機構30を介在させ、
さらに、回転腕体27における他方の腕29に、前記回転体
16及び出力軸杆15に固定したほぼ円弧状の支持腕31の両
端支持部32,32を回転可能に取付け、その腕29と支持腕3
1との間に整流子機構33を介在させている。従って、回
転体16（出力軸杆15）はｘ軸、ｙ軸及びｚ軸のまわりに
自由に回転することが可能である。That is, in the rotating body 16, the commutator mechanism 23 is provided between the fixed portion 22 integrated with the base body 11 and the rotating shaft rod 24 that is rotatably connected around the z-axis, and the shaft rod 24 has the commutator mechanism 23. A rotating arm body 27 in which radial arms 28, 29 along two orthogonal axes are provided between both end support portions 26, 26 of a fixed substantially arcuate support arm 25.
The unidirectional arms 28, 28 are attached rotatably, and the commutator mechanism 30 is interposed between the arm 28 and the support arm 25,
Further, on the other arm 29 of the rotary arm 27, the rotary body
Both ends supporting portions 32, 32 of a substantially arcuate support arm 31 fixed to 16 and the output shaft rod 15 are rotatably mounted, and the arm 29 and the support arm 3 are provided.
A commutator mechanism 33 is interposed between the first and second terminals. Therefore, the rotating body 16 (output shaft rod 15) can freely rotate around the x-axis, the y-axis, and the z-axis.

而して、上記整流子機構23,30,33は、各コイル17〜19に
所要の向きに電流を流すと共に、その電流の向きを所要
角度において反転させ、各コイルをそれぞれの軸のまわ
りに回転させるもので、例えば、整流子機構30は第５図
のように構成される。Thus, the commutator mechanisms 23, 30, 33 cause current to flow through the coils 17 to 19 in a desired direction, reverse the direction of the current at a required angle, and move the coils around their respective axes. For example, the commutator mechanism 30 is configured to rotate as shown in FIG.

即ち、整流子機構30においては、支持腕25の両端支持部
26に固定された絶縁柱36のまわりに絶縁材37を介して整
流子38,38を配設固定すると共に、それを絶縁スリーブ3
9及びベアリング41を介して腕28に回転可能に取付けて
いる。さらに、上記整流子38のまわりの対向位置におい
て腕28に固定されたブラシ44,44は、整流子38の外周面
に電気的導通状態に接触すると共に、前記回転体16に捲
回したｘ軸のまわりの回転を司るコイル17に接続され、
また上記各整流子38は隣接する整流子が異極につながる
ようにして直流電源（図示せず）に接続している。これ
により、腕28（回転腕体27）の回転に応じてコイル17が
所定の整流子38を介して電源に接続されることになる。That is, in the commutator mechanism 30, both end support portions of the support arm 25 are
The commutators 38, 38 are arranged and fixed around the insulating pillar 36 fixed to the 26 through the insulating material 37, and the insulating sleeve 3
It is rotatably attached to the arm 28 via 9 and a bearing 41. Further, the brushes 44, 44 fixed to the arm 28 at the opposite positions around the commutator 38 are in electrical contact with the outer peripheral surface of the commutator 38, and the x-axis wound around the rotating body 16. Connected to the coil 17 that controls the rotation around
Further, each commutator 38 is connected to a DC power source (not shown) so that adjacent commutators are connected to different polarities. As a result, the coil 17 is connected to the power source via the predetermined commutator 38 according to the rotation of the arm 28 (rotating arm body 27).

なお、他の整流子機構23,33も上記と同様に構成され、
それらの機構23,33におけるブラシにはそれぞれコイル1
8,19が接続される。The other commutator mechanisms 23 and 33 are also configured in the same manner as above,
Each of the brushes in these mechanisms 23 and 33 has a coil 1
8,19 are connected.

上記構成のモータにおいて、整流子機構23,30,33を介し
てコイル17,18,19に直流電流を供給すれば、ロータ14は
ステータ12に対してｘ軸、ｙ軸及びｚ軸のまわりに任意
の方向に回転し、且つその回転に伴って各コイル17,18,
19に流れる電流の向きが整流子機構23,30,33による極性
切換によって反転して、その回転が継続され、出力が出
力軸杆15から取出される。In the motor having the above configuration, if a DC current is supplied to the coils 17, 18, 19 via the commutator mechanisms 23, 30, 33, the rotor 14 moves around the x axis, the y axis, and the z axis with respect to the stator 12. Rotate in any direction, and each coil 17,18,
The direction of the current flowing through 19 is reversed by the polarity switching by the commutator mechanisms 23, 30, 33, the rotation is continued, and the output is taken out from the output shaft rod 15.

なお、上記モータにおけるステータを多極構造とするこ
ともでき、それにより既知の直流モータにおけると同様
の多極形直流モータを得ることができるのは当然であ
る。この場合には、例えば第６図に示すようにＮ極を配
置すると、Ｓ極はx,y,zの各軸のいずれに対しても等角
度の中間の線上に配置されることになる。また、コイル
の巻き方は、極数が奇数の場合には第７図（ａ）のよう
に、極数が偶数の場合には同図（ｂ）のようにする必要
がある。It should be noted that the stator in the above motor may have a multi-pole structure, and it is naturally possible to obtain the same multi-pole DC motor as in a known DC motor. In this case, for example, when the N pole is arranged as shown in FIG. 6, the S pole is arranged on the middle line of equal angles with respect to each of the x, y, and z axes. Further, the winding method of the coil needs to be as shown in FIG. 7A when the number of poles is odd, and as shown in FIG. 7B when the number of poles is even.

【図面の簡単な説明】[Brief description of drawings]

第１図は本発明の原理説明するためのコイルの捲回状態
を示す斜視図、第２図は同ステータの斜視図、第３図は
本発明の実施例の斜視図、第４図はそのジンバル構造に
ついての説明図、第５図はその整流子機構の拡大斜視
図、第６図は多極構造にした場合のステータについての
説明図、第７図（ａ）（ｂ）は上記多極構造の場合にお
けるコイルの巻き方についての説明図である。 12……ステータ、14……ロータ、 17,18,19……コイル、 23,30,33……整流子機構。FIG. 1 is a perspective view showing a wound state of a coil for explaining the principle of the present invention, FIG. 2 is a perspective view of the stator, FIG. 3 is a perspective view of an embodiment of the present invention, and FIG. Fig. 5 is an explanatory view of a gimbal structure, Fig. 5 is an enlarged perspective view of the commutator mechanism thereof, Fig. 6 is an explanatory view of a stator having a multipole structure, and Figs. 7 (a) and (b) are the multipoles. It is explanatory drawing about the winding method of the coil in the case of a structure. 12 …… stator, 14 …… rotor, 17,18,19 …… coil, 23,30,33 …… commutator mechanism.

Claims (1)

【特許請求の範囲】[Claims] 【請求項１】中空状に構成した適数の磁極を有するステ
ータに、直交する３軸のまわりの回転を可能にしたジン
バル構造を介して、上記３軸方向の極間に三つのコイル
を設けたロータを収容し、上記ジンバル構造における直
行３軸方向の相対的回転部分に、ステータにおける磁界
の方向との関係において各コイルに所要の向きに電流を
流す整流子機構を設け、上記各コイルをそれぞれの軸に
おける整流子機構を介して直流電源に接続したことを特
徴とする３自由度直流モータ。1. A stator having an appropriate number of magnetic poles formed in a hollow shape, and three coils provided between the poles in the three axial directions via a gimbal structure capable of rotating around three orthogonal axes. And a commutator mechanism for supplying a current to each coil in a desired direction in relation to the direction of the magnetic field in the stator. A three-degree-of-freedom DC motor, characterized in that it is connected to a DC power source via a commutator mechanism on each shaft.
JP60044148A 1985-03-06 1985-03-06 3 degrees of freedom DC motor Expired - Lifetime JPH0734639B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP60044148A JPH0734639B2 (en) 1985-03-06 1985-03-06 3 degrees of freedom DC motor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP60044148A JPH0734639B2 (en) 1985-03-06 1985-03-06 3 degrees of freedom DC motor

Publications (2)

Publication Number Publication Date
JPS61203860A JPS61203860A (en) 1986-09-09
JPH0734639B2 true JPH0734639B2 (en) 1995-04-12

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Family Applications (1)

Application Number Title Priority Date Filing Date
JP60044148A Expired - Lifetime JPH0734639B2 (en) 1985-03-06 1985-03-06 3 degrees of freedom DC motor

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KR100825949B1 (en) * 2007-01-12 2008-04-28 한양대학교 산학협력단 3 degrees of freedom actuator
KR101389396B1 (en) * 2012-11-16 2014-05-30 국방과학연구소 Minimum size type spherical motor

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DE69209187T2 (en) * 1991-07-31 1996-08-14 Mitsubishi Heavy Ind Ltd Electric motor with a spherical rotor and its application device
KR100401412B1 (en) * 2001-11-05 2003-10-17 백윤수 Brushless DC motor with 3 Degrees of Freedom
US9000628B1 (en) * 2013-10-08 2015-04-07 Kuokwa Ho Ball joint universal rotary motor, a manufacturing method and a working mechanism thereof
EP3249794B1 (en) * 2016-05-26 2020-11-18 Honeywell International Inc. Multi-degree of freedom electromagnetic machine
US10118716B2 (en) 2016-07-12 2018-11-06 Honeywell International Inc. Spin and tilt control of a multi-degree of freedom electromagnetic machine
US10110108B2 (en) * 2016-12-05 2018-10-23 Honeywell International Inc. Three degree-of-freedom electromagnetic machine control system and method
CN108462346B (en) * 2018-02-09 2020-03-31 河北科技大学 Hybrid drive type three-degree-of-freedom motion motor

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AU486229B2 (en) * 1975-09-04 1977-09-08 Michael Ellis James Self-propelled shark-proof cage
JPS55120018A (en) * 1979-03-12 1980-09-16 Mamiya Koki Kk Electromagnetic driving device for camera
JPS55139071A (en) * 1979-04-13 1980-10-30 Nec Corp Two-axis feed type linear motor
JPS5628460A (en) * 1979-08-15 1981-03-20 Mitsubishi Electric Corp High frequency starting device
JPS5771532A (en) * 1980-10-22 1982-05-04 Matsushita Electric Ind Co Ltd Two axia driver
JPS592562A (en) * 1982-06-28 1984-01-09 Nippon Kogaku Kk <Nikon> Movable coil type actuator
JPS59162763A (en) * 1983-03-03 1984-09-13 Canon Inc Spherical motor
JPS59162762A (en) * 1983-03-03 1984-09-13 Canon Inc Spherical motor

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KR100825949B1 (en) * 2007-01-12 2008-04-28 한양대학교 산학협력단 3 degrees of freedom actuator
KR101389396B1 (en) * 2012-11-16 2014-05-30 국방과학연구소 Minimum size type spherical motor

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