Stepper motor e.g. for directly driving robot hand finger linkage without reducing mechanism

摘要

The stepper motor has a stator (30), a rotor (20) with first and second sections (20A,20B), permanent magnets (44) mounted at a constant distance on the outer or inner circumference of each rotor section and a coil (40A,40B) mounted in the stator and wound in the peripheral direction to generate currents in loops in a plane contg. the stator axis. The direction of the current fed to the coil is varied during operation. A first alternating relationship exists between the magnetic currents generated by the permanent magnets of the first rotor section and the magnetic currents generated in the stator by the coil. A second relationship exists between the magnetic currents generated by the permanent magnets of the second rotor section and the magnetic currents generated in the stator by the coil. There is an offset in the rotation directions of the two alternating relationships.