Apparatuses, systems, and methods for Lorentz-force-based movement

A system comprising:

• a plurality of subassemblies, wherein each subassembly comprises:
• a first conductive coil, wherein at least a portion of the first conductive coil defines a portion of a spherical surface, and wherein the portion of the first conductive coil is oriented along a first direction along the portion of the spherical surface;
• a second conductive coil proximate the first conductive coil, wherein at least a portion of the second conductive coil is oriented along a second direction along the portion of the spherical surface, and wherein the second direction is orthogonal to the first direction;
• and
• a body that holds the first conductive coil and the second conductive coil;
• for each subassembly, a magnetic field generation structure that generates a magnetic field through the portion of the first conductive coil and the portion of the second conductive coil, wherein the magnetic field is directed along a third direction orthogonal to the first direction and the second direction;
• a stator assembly comprising a base and:
• the plurality of subassemblies, wherein the body of each of the plurality of subassemblies is connected to the base;
• or
• the magnetic field generation structures, wherein each of the magnetic field generation structures is connected to the base;
• a rotor assembly comprising:
• the plurality of subassemblies, wherein the body of each of the plurality of subassemblies is connected to the platform;
• or
• the magnetic field generations structures, wherein each of the magnetic field generation structures is connected to the platform;
• and
• a coil driver circuit that, for each subassembly:
• supplies first current to the first conductive coil to move a corresponding magnetic field generation structure along the second direction relative to the subassembly and
• supplies second current to the second conductive coil to move the corresponding magnetic field generation structure along the first direction relative to the subassembly;
• or
• supplies first current to the first conductive coil to move the subassembly along the second direction relative to a corresponding magnetic field generation structure and
• supplies second current to the second conductive coil to move the subassembly along the first direction relative to the corresponding magnetic field generation structure.

A method comprising:

• providing a subassembly comprising:
• a first conductive coil, wherein at least a portion of the first conductive coil defines a portion of a spherical surface, and wherein the portion of the first conductive coil is oriented along a first direction along the portion of the spherical surface;
• a second conductive coil proximate the first conductive coil, wherein at least a portion of the second conductive coil is oriented along a second direction along the portion of the spherical surface, and wherein the second direction is orthogonal to the first direction;
• and
• a body that holds the first conductive coil and the second conductive coil;
• generating, using a magnetic field generation structure, a magnetic field through the portion of the first conductive coil and the portion of the second conductive coil, wherein the magnetic field is directed along a third direction orthogonal to the first direction and the second direction;
• supplying a first current to the first conductive coil:
• to move the magnetic field generation structure along the second direction relative to the subassembly;
• or
• to move the subassembly along the second direction relative to the magnetic field generation structure;
• and
• supplying a second current to the second conductive coil:
• to move the magnetic field generation structure along the first direction relative to the subassembly;
• or
• to move the subassembly along the first direction relative to the magnetic field generation structure.