Motion control using electromagnetic forces

Abstract

Motion control using electromagnetic forces. The control of motion in unpowered apparatus and an apparatus driven by electric motors and/or other prime movers utilizes electromagnetic force/torque for control of motion. One objective is to extend the domain of electric motor speed control, traditionally characterized by electronic techniques, to small apparatus such as bubble vibration toys, paper dispensers, toothbrushes and other appliances.

1 . An apparatus, comprising:
 a first component having at least one electromagnetic element; and   a second component having at least one electromagnetic elements and movably coupled to the first component,   wherein:   the second component is adapted to move with respect to the first component in a cyclical manner;   the at least one electromagnetic element of the first component are adapted to interact with the at least one electromagnetic element of the second component during each of at least one cycle of motion of the second component with respect to the first component such that, when a constant force profile is applied to move the second component with respect to the first component, the speed of motion increases and decreases at least one time during each cycle of motion due to different levels of electromagnetic interaction between the at least one electromagnetic element of the first component and the at least one electromagnetic element of the second component within each cycle of motion;   the first and second components are adapted to attach to a vibration jig; and   the levels of electromagnetic interaction between the first component and the second component vary in a manner to enhance and/or modify the variations of the force or torque of a prime mover attached to the vibration jig.   
     
     
         2 . The apparatus of  claim 1 , wherein the electromagnetic elements are all passive electromagnetic elements, and at least one of the electromagnetic elements is a permanent magnet. 
     
     
         3 . An enhanced carom board game with at least two electromagnetically enhanced members, wherein:
 the electromagnetically enhanced members being one of the board, the coins, or the striker;   the electromagnetically enhanced members including a material exhibiting at least one of permanent magnetism, conductivity, or hysteresis; and   the carom board game exhibiting motions of the coins and striker changed from motions of the coins and striker in standard carom, due to varying levels of electromagnetic interaction between the electromagnetically enhanced members.   
     
     
         4 . A bubble vibration toy, comprising:
 at least one electric motor; and   at least one frame,   wherein the bubble vibration toy shows oscillations of at least one soap film stretched over at least one rigid or partially rigid boundaries of the frame, the oscillations being visible in a mode of motion of the bubble vibration toy.   
     
     
         5 . The toy of  claim 4 , further comprising a frame, of circular or square cross section over which can be stretched a soap film, and which is put into oscillation in a mode of motion of the toy. 
     
     
         6 . The toy of  claim 4 , further comprising at least two different frames, with soap films that can be stretched over each of the frames, and wherein the at least two frames display soap film oscillations in different modes of motion of the toy. 
     
     
         7 . A mechanism comprising:
 at least two non-collinear joints each having a first link and a second link; and   a first magnet coupled to each of the first links, and a second magnet coupled to each of the second links, such that the mechanism exhibits stable states,   wherein each of the stable states corresponds to a position of minimum energy of the complete mechanism.   
     
     
         8 . The mechanism of  claim 7 , which is a 4-bar linkage. 
     
     
         9 . The mechanism of  claim 7 , which is a Stewart platform. 
     
     
         10 . The mechanism of  claim 7 , which is a serial manipulator. 
     
     
         11 . The mechanism of  claim 7 , which is a parallel manipulator.