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We developed a new type of nutation motor without using air pressure, named the electromagnetic nutation motor consisting of some electromagnets and the OF1 (Output gear Fixed) type bevel gears (a nutant bevel gear and a fixed bevel gear). Driving each electromagnet sequentially causes nutation of the nutant bevel gear, which makes the output shaft rotate through universal joint and spherical bearing. In this report, first, the driving principle and design of this motor are presented. Next, the optimal shape of the electromagnet is found using the finite element method (FEM). Using this electromagnet, the prototype of electromagnetic nutation motor is fabricated and tested. As a result, it is confirmed that this motor has a maximum torque of 0.87 N·m, a maximum rotation of 4.3 r/min, and a minimum resolution of 1 248 step/rev.

Development of Nutation Motors (3rd Report, Development of Electromagnetic Nutation Motor by the OF1 Type Bevel Gears and Electromagnets)