Development of a cross-coupled 2DOF direct drive motor

This paper proposes a new cross-coupled two-degree-of-freedom (2DOF) direct drive motor which can independently realize rotary and linear motions. In this proposed motor, the mover part is a shaft with segment magnets formed in checkers. On the other hand, two sets of helical windings are cross-coupled in the stator part. The configuration can generate thrust force and torque independently. In this paper, the principle and the validity of the proposed motor are shown by electromagnetic field analysis and fabrication of the parts of an experimental motor is introduced.