TOMMUNOMUS009748804B2 UT VITAL UNUI AT MAN AT THE (12 ) United States Patent ( 10 ) Patent No. : US 9 , 748 ,804 B2 Klassen ( 45 ) Date of Patent : Aug. 29 , 2017

(54 ) ELECTRIC MACHINE ( 56 ) References Cited (71 ) Applicant: Genesis Robotics LLP , Langley, U . S . PATENT DOCUMENTS British Columbia (CA ) 2 ,665 ,243 A 1 / 1954 Hain et al. 3 ,383 ,534 A 5 / 1968 Ebbs (72 ) Inventor: James Brent Klassen , Langley (CA ) ( Continued ) FOREIGN PATENT DOCUMENTS @( 73 ) Assignee: Genesis Robotics LLP (CA ) CA 2 187 096 Al 10 / 1995 CN 203827088 U 9/ 2014 ( * ) Notice : Subject to any disclaimer , the term of this patent is extended or adjusted under 35 ( Continued ) U . S . C . 154 ( b ) by 0 days. OTHER PUBLICATIONS Yang , FEA Estimation and Experimental Validation of Solid Rotor (21 ) Appl. No. : 15 /291 , 808 and Magnet Eddy Current Loss in Single - Sided Axial Flux Perma nent Magnet Machines , Electrical Engineering Theses and Disser (22 ) Filed : Oct. 12 , 2016 tations, Department of Electrical Engineering , Digital Commons @ University of Nebraska — Lincoln , Dec . 2013 , 98 pages . (65 65 ) Prior Publication Data ( Continued ) US 2017 /0047795 A1 Feb . 16 , 2017 Primary Examiner — Burton Mullins ( 74 ) Attorney, Agent, or Firm — Eric L . Sophir ; Dentons Related U .S . Application Data US LLP (63 ) Continuation of application No. 15/ 235 ,095 , filed on (57 ) ABSTRACT Aug. 11, 2016 , and a continuation of application No. An electric machine comprise a first carrier having an array (Continued ) of electromagnetic elements and a second carrier having electromagnetic elements defining magnetic poles , the sec ond carrier being arranged to move relative to the first @(51 ) Int. Ci. carrier. An airgap is provided between the first carrier and HO2K 1 / 14 ( 2006 .01 ) the second carrier. The electromagnetic elements of the first HO2K 1 / 22 ( 2006 .01 ) carrier include posts , with slots between the posts , one or ( Continued ) more electric conductors in each slot, the posts of the first ( 52 ) U . S . CI. carrier having a post height in mm . The first carrier and the ??? ...... HO2K 1 / 20 ( 2013 .01 ) ; B25J 9 / 12 second carrier together define a size of the electric machine . (2013 .01 ) ; H02K 1 / 02 (2013 .01 ) ; HO2K 1/ 06 The magnetic poles having a pole pitch in mm . The size of ( 2013 . 01 ) ; the motor, pole pitch and post height are selected to fall within a region in a space defined by size , pole pitch and post (Continued ) height that provides a benefit in terms of force or torque per (58 ) Field of Classification Search weight per excitation level. CPC ...... HO2K 2201/ 12 ( Continued ) 12 Claims, 95 Drawing Sheets

2100

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