US 12,251,823 B2
Robotic devices and methods for fabrication, use and control of same
Xiaodong Lu, Vancouver (CA); Peter Tang, Hamilton (CA); Alexander H. Slocum, Bow, NH (US); and Rui Chen, Vancouver (CA)
Assigned to Planar Motor Incorporated, Richmond (CA)
Filed by Planar Motor Incorporated, Richmond (CA)
Filed on Jun. 2, 2023, as Appl. No. 18/205,292.
Application 18/205,292 is a continuation of application No. 17/157,683, filed on Jan. 25, 2021, granted, now 11,701,786.
Application 17/157,683 is a continuation of application No. 16/498,197, granted, now 10,926,418, issued on Feb. 23, 2021, previously published as PCT/CA2018/050375, filed on Mar. 27, 2018.
Claims priority of provisional application 62/626,082, filed on Feb. 4, 2018.
Claims priority of provisional application 62/590,323, filed on Nov. 23, 2017.
Claims priority of provisional application 62/513,975, filed on Jun. 1, 2017.
Claims priority of provisional application 62/490,270, filed on Apr. 26, 2017.
Claims priority of provisional application 62/485,402, filed on Apr. 14, 2017.
Claims priority of provisional application 62/476,871, filed on Mar. 27, 2017.
Prior Publication US 2023/0302663 A1, Sep. 28, 2023
Int. Cl. H02K 11/20 (2016.01); B25J 9/00 (2006.01); B25J 15/02 (2006.01); B25J 15/06 (2006.01); B65G 1/04 (2006.01); H02K 41/03 (2006.01); H02P 25/064 (2016.01); H02K 1/26 (2006.01)
CPC B25J 15/065 (2013.01) [B25J 9/0036 (2013.01); B25J 15/0246 (2013.01); B65G 1/0435 (2013.01); H02K 41/031 (2013.01); H02P 25/064 (2016.02); H02K 1/26 (2013.01); H02K 2201/18 (2013.01)] 23 Claims
OG exemplary drawing
 
1. An apparatus for moving one or more magnetically moveable devices, the apparatus comprising:
a work body comprising a plurality of electrically conductive coils and a work surface upon which the one or more magnetically moveable devices are configured to be controllably moved within at least two degrees of freedom, wherein the one or more magnetically moveable devices and the plurality of electrically conductive coils are on opposite sides of the work surface;
one or more controllers configured to controllably move the one or more magnetically moveable devices over the work surface by driving one or more currents through at least one of the plurality of electrically conductive coils so as to modulate one or more magnetic fields and thereby controllably and magnetically levitate the one or more magnetically moveable devices; and
one or more obstacles,
wherein the one or more controllers are further configured to:
generate, based on one or more positions of the one or more obstacles, one or more trajectories; and
controllably move the one or more magnetically moveable devices according to the one or more trajectories so as to avoid the one or more obstacles.