Actively controllable six-degree-of-freedom motor device and a motor system having the same

A motor system comprising:

• a motor device including:
• a stator assembly including:
• a first support in a form of a circular cylinder, wherein a surface of the first support is divided into a plurality of areas arranged along a circumferential direction thereof and arranged consecutively;
• a first magnetic coil including first windings having a plurality of coil groups wound around inner and outer faces of the first support and respectively wound around the plurality of areas of the first support and in a direction parallel to a first direction as a central-axis direction of the first support;
• a second support in a form of a circular cylinder disposed inside or outside the first support;
• and
• a second magnetic coil including second windings wound around a surface of the second support and in a circumferential direction of the second support;
• and
• a rotor assembly including a permanent magnet array, wherein the array includes:
• a plurality of first permanent magnets magnetized in a positive or negative radial direction;
• and
• a plurality of second permanent magnets including first and second extending magnets magnetized in an opposite direction to the magnetized direction of the first permanent magnets, wherein each of the first and second extending magnets has a length greater than each of the first permanent magnets,
• wherein the first and second permanent magnets are arranged symmetrically about the central-axis and are arranged in a form of a circular cylinder surrounding the stator assembly,
• wherein the first and second extending magnets are respectively disposed in a first end area and a second end area opposite to each other of the rotor assembly;
• a sensing device for sensing relative positions and motions of the rotor assembly with respect to the stator assembly, and for generating an electrical sensed signal corresponding thereto;
• a controller configured to:
• calculate, based on the sensed signal, at least one of:
• a first target torque for rotating the rotor assembly by a first angle around the central-axis direction of the stator assembly;
• a second target torque for rotating the rotor assembly by a second angle around a first radial direction thereof;
• a third target torque for rotating the rotor assembly by a third angle around a second radial direction;
• a first target force to move the rotor assembly by a first distance in the first radial direction;
• a second target force for moving the rotor assembly in the second radial direction by a second distance;
• or
• a third target force for moving the rotor assembly along the central-axis direction;
• and
• calculate control current values to be applied to first to fourth coil groups and the second windings to generate the calculated target torques and forces, wherein the plurality of coil groups include the first to fourth coil groups;
• and
• a driver configured to generate control currents from an external power source, based on the calculated control current values and to apply the generated control currents to the first to fourth coil groups and the second windings.