Honeywell International Inc.
MULTI-DEGREE-OF-FREEDOM ELECTROMAGNETIC MACHINE WITH PAYLOAD ATTACHMENT ASSEMBLY

Abstract:

A multi-degree-of-freedom electromagnetic machine includes a spherical stator, an armature, a payload mount assembly, and a payload. The spherical stator has a first axis of symmetry, a second axis of symmetry, and a third axis of symmetry that are disposed perpendicular to each other. The armature is spaced apart from, and surrounds at least a portion of, the spherical stator, and is mounted for rotation about the first and second axes of symmetry. The payload is spaced apart from the spherical stator and the armature and is coupled to the payload mount assembly and is mounted to rotate about a payload rotational axis that is parallel to the first axis of symmetry and perpendicular to the second axis of symmetry. The payload is disposed such that its center of gravity is at a position where the second axis of symmetry and the payload rotational axis intersect.