A method for controlling a planar drive system includes generating a position allocating function, in an allocation generating step; measuring a plurality of measuring values of the magnetic rotor field by magnetic field sensors for a position of the rotor relative to the stator module, in a magnetic rotor field determining step; applying the position determination function to the plurality of measuring values of the magnetic rotor field of the plurality of magnetic field sensors, in a measuring value analysis step; and determining the position of the rotor relative to the stator module on the basis of the measurements of the magnetic rotor field measured by the plurality of magnetic field sensors and based on the allocations of the position allocating function, in a position determining step. The application further relates to such a planar drive system.

Various aspects of the present disclosure are directed to a transport device in the form of a planar motor. In one embodiment, the transport device includes at least one transport segment, first and second coil groups, frive magnets and a control unit. The at least one transport segment forms a transport plane and includes at least one transport unit that moves in the transport plane at least two-dimensionally along two main movement directions. The first coil group, which defines the first main movement direction and has first drive coils, is arranged on the at least one transport segment. The second coil group defines the second main movement direction and has second drive coils is arranged on the at least one transport segment. The drive magnets are arranged on the at least one transport unit. The control unit controls the first drive coils, and the second drive coils.

Various embodiments relate to magnetically moveable displacement devices or robotic devices. Particular embodiments provide systems and corresponding methods for magnetically moving multiple movable robots relative to one or more working surfaces of respective one or more work bodies, and for moving robots between the one or more work bodies via transfer devices. Robots can carry one or more objects among different locations, manipulate carried objects, and/or interact with their surroundings for particular functionality including but not limited to assembly, packaging, inspection, 3D printing, test, laboratory automation, etc. A mechanical link may be mounted on planar motion units such as said robots.

The present disclosure relates to an actuator. The actuator includes at least two iron cores, each iron core including a pole extending in a first direction parallel to a direction of gravity; a permanent magnet disposed between the at least two iron cores so as to generate a magnetic field along a shape of a combination of the at least two iron cores arranged so as to be adjacent to each other in a direction not parallel to the first direction; and a winding wound around the pole of each of the at least two iron cores.

A low height type actuator capable of performing a two-dimensional motion includes a magnet structure that includes a first array in which the first and second magnets are alternately arranged in x-direction and a second array in which the first and second magnets are alternately arranged in y-direction, and first and second wirings. The first wiring crosses the first magnets included in the first array in y-direction, and the second wiring crosses the first magnets included in the second array in x-direction. According to the present invention, by making current flow in the first and second wirings, a two-dimensional motion can be achieved. Further, since the first and second wirings are each a planar wiring that crosses the magnets, height reduction can be achieved.

A drive device (10) includes a support (23), a first movable portion (21), a first magnet (41), a second magnet (42), a first coil (31), and a second coil (32). The first movable portion (21) is swingable in two axial directions with respect to the support (23). The first magnet (41) is positioned inside the first movable portion (21) when viewed from a first direction. The second magnet (42) is positioned outside the first movable portion (21) when viewed from the first direction. Magnetic flux from the first magnet (41) acts on the first coil (31). Magnetic flux from the second magnet (42) acts on the second coil (32).

The disclosure relates to a linear actuator including a base, a linear motor, a load cell and a rotary motor. The linear motor is disposed on the base and includes a fixed coil module and a movable magnetic backplane. The fixed coil module is fixed on the base, and the movable magnetic backplane is configured to slide relative to the fixed coil module along a first direction. The rotary motor is rotated around a central axis in parallel with the first direction. The load cell has two opposite sides parallel to the first direction, respectively. The movable magnetic backplane of the linear motor and the rotary motor are connected to the two opposite sides of the load cell, respectively. The load cell is subjected to a force applied thereto by the rotary motor and parallel to the first direction, and configured to convert the force into an electrical signal.

A stator module for driving a rotor of an electrical planar-drive system comprises a power module, a stator assembly arranged on a top surface of the power module, and a connector. The power module is embodied to provide drive currents for driving the rotor. The stator assembly comprises coil conductors electrically connected to the power module via the connector for charging with the drive currents. The power module and the stator assembly each have a plate-shaped embodiment. The power module is mechanically fastened to the stator assembly by the connector. The stator assembly comprises a contact structure with contact holes arranged side by side, and the power module comprises a connecting arrangement with further contact holes arranged side by side. The connector comprises contact pins arranged side by side to engage in the further contact holes of the connecting arrangement, and in the contact holes of the contact structure.

A method for moving a rotor in a planar drive system having a first and second stator modules and a rotor. The stator modules are arranged at a distance, forming a gap. First and second magnetic fields are generated by the first and stator modules. The first and second magnetic fields hold the rotor in a vertical position, at a distance from a surface of the first and/or second stator module. The first and/or second magnetic fields have a first magnetic field strength to maintain the rotor in the vertical position, and may be used to change a horizontal position of the rotor. The first stator module has a first close range adjacent the gap, where the first magnetic field has a second field strength when the rotor is moved across the gap, greater than the first magnetic field strength.

A sensor actuator includes a first movable body on which an image sensor having an imaging plane is disposed, a second movable body spaced apart from the first movable body in a direction perpendicular to the imaging plane, a fixed body accommodating the first movable body and the second movable body, and a driver configured to provide driving force to the first movable body, wherein the first movable body and the second movable body move together in a direction parallel to the imaging plane, and the first movable body rotates relative to the second movable body.