Multi-bar linkage electric drive system
An electric drive system including: a rotary motor system including a hub assembly, a first rotating assembly, a second rotating assembly, and a third rotating assembly, wherein the hub assembly defines a rotational axis about which the first rotating assembly, the second rotating assembly, and the third rotating assembly are coaxially aligned and are capable of independent rotational movement independent of each other; a multi-bar linkage mechanism connected to each of the first and third rotating assemblies and connected to the hub assembly and constraining movement of the hub assembly so that the rotational axis of the hub assembly moves along a defined path that is in a transverse direction relative to the rotational axis and wherein the multi-bar linkage mechanism causes the rotational axis of the hub assembly to translate along the defined path in response to relative rotation of the first rotating assembly and the third rotating assembly with respect to each other.
1. An electric drive system, comprising:
a magnetic rotor assembly rotatable about a rotational axis;
a first coil stator assembly, coaxially aligned with and rotatable about the rotational axis, configured to receive a first drive signal and apply a first torque to the magnetic rotor assembly in response to the first drive signal; and
a second coil stator assembly, coaxially aligned with and rotatable about the rotational axis, configured to receive a second drive signal and apply a second torque to the magnetic rotor assembly in response to the second drive signal, the second coil stator assembly being mechanically coupled to the first coil stator assembly such that motion of the first coil stator assembly is coupled to motion of the second coil stator assembly,
wherein when the first torque and the second torque are applied to the magnetic rotor assembly at the same time, the first torque and the second torque cause at least one of:
the magnetic rotor assembly to rotate about the rotational axis; or
at least the magnetic rotor assembly, the first coil stator assembly, and the second coil stator assembly to move along a defined path that is in a transverse direction relative to the rotational axis.
2. The electric drive system of claim 1 , wherein when the first torque and the second torque are substantially equal in magnitude and applied to the magnetic rotor assembly along a same direction, the first torque and the second torque primarily cause the magnetic rotor assembly to rotate.
3. The electric drive system of claim 1 , wherein when the first torque and the second torque are substantially equal in magnitude and applied to the magnetic rotor assembly in opposite directions, the first torque and the second torque primarily cause at least the magnetic rotor assembly, the first coil stator assembly, and the second coil stator assembly to move along the defined path.
4. The electric drive system of claim 1 , wherein when the first torque and the second torque are different in magnitude, the first torque and the second torque cause the magnetic rotor assembly to rotate and at least the magnetic rotor assembly, the first coil stator assembly, and the second coil stator assembly to move along the defined path.
5. The electric drive system of claim 1 , wherein the defined path is a linear path.
6. The electric drive system of claim 1 , wherein the defined path is a curved path.
7. The electric drive system of claim 1 , further comprising:
torque links to couple the motion of the first coil stator assembly to the motion of the second coil stator assembly.
8. The electric drive system of claim 7 , wherein:
the torque links limit respective ranges of rotation of the first coil stator assembly and the second coil stator assembly; and
the electric drive system further comprises:
a connector, electrically coupled to the first coil stator assembly and the second coil stator assembly, to deliver the first drive signal to the first coil stator assembly and the second drive signal to the second coil stator assembly.
9. The electric drive system of claim 7 , wherein:
in response to the first torque being applied to the magnetic rotor assembly, a first reaction torque is applied to the first coil stator assembly;
in response to the second torque being applied to the magnetic rotor assembly, a second reaction torque is applied to the second coil stator assembly; and
the torque links comprise:
a first torque link, coupled to the first coil stator assembly, to receive the first reaction torque from the first coil stator assembly; and
a second torque link, coupled to the second coil stator assembly, to receive the second reaction torque from the second coil stator assembly.
10. The electric drive system of claim 1 , further comprising:
a support structure coupled to the first coil stator assembly and the second coil stator assembly,
wherein the support structure is configured for attachment to a suspension of a vehicle.
11. The electric drive system of claim 10 , further comprising:
a spring, operably coupled to the support structure, to hold the electric drive system at an elevated position above ground when no electrical power is being applied to the electric drive system.
12. A vehicle, comprising:
a chassis; and
a plurality of wheel assemblies, at least one wheel assembly of the plurality of wheel assemblies comprising the electric drive system of claim 1 .
13. An electric drive system, comprising:
a magnetic rotor assembly rotatable about a rotational axis;
a first coil stator assembly, coaxially aligned with and rotatable about the rotational axis, configured to receive a first drive signal and apply a first torque to the magnetic rotor assembly in response to the first drive signal; and
a second coil stator assembly, coaxially aligned with and rotatable about the rotational axis, configured to receive a second drive signal and apply a second torque to the magnetic rotor assembly in response to the second drive signal,
a first torque link rotatably coupled to the first coil stator assembly;
a second torque link rotatably coupled to the second coil stator assembly; and
a crankshaft rotatably coupled to the first torque link and the second torque link, the crankshaft being parallel to the rotational axis,
wherein when the first torque and the second torque are applied to the magnetic rotor assembly at the same time, the first torque and the second torque cause at least one of:
the magnetic rotor assembly to rotate about the rotational axis; or
at least the magnetic rotor assembly, the first coil stator assembly, and the second coil stator assembly to move along a defined path that is in a transverse direction relative to the rotational axis.
14. The electric drive system of claim 13 , wherein:
when the first torque and the second torque are substantially equal in magnitude and applied to the magnetic rotor assembly along a same direction, the first torque and the second torque primarily cause the magnetic rotor assembly to rotate;
when the first torque and the second torque are substantially equal in magnitude and are applied to the magnetic rotor assembly in opposite directions, the first torque and the second torque primarily cause at least the magnetic rotor assembly, the first coil stator assembly, and the second coil stator assembly to move along the defined path; and
when the first torque and the second torque are different in magnitude, the first torque and the second torque cause the magnetic rotor assembly to rotate and at least the magnetic rotor assembly, the first coil stator assembly, and the second coil stator assembly to move along the defined path.
15. The electric drive system of claim 13 , wherein:
the first torque link, the second torque link, and the crankshaft limit respective ranges of rotation for the first coil stator assembly and the second coil stator assembly; and
the electric drive system further comprises:
a connector, electrically coupled to the first coil stator assembly and the second coil stator assembly, to deliver the first drive signal to the first coil stator assembly and the second drive signal to the second coil stator assembly.
16. A vehicle, comprising:
a chassis;
a plurality of wheel assemblies, at least one wheel assembly of the plurality of wheel assemblies being coupled to the chassis via a suspension and comprising an electric drive system, the respective electric drive system comprising:
a magnetic rotor assembly rotatable about a rotational axis;
a first coil stator assembly, coaxially aligned with and rotatable about the rotational axis, configured to receive a first drive signal and apply a first torque to the magnetic rotor assembly in response to the first drive signal;
a second coil stator assembly, coaxially aligned with and rotatable about the rotational axis, configured to receive a second drive signal and apply a second torque to the magnetic rotor assembly in response to the second drive signal, the second coil stator assembly being mechanically coupled to the first coil stator assembly such that motion of the first coil stator assembly is coupled to motion of the second coil stator assembly;
a support structure coupled to the suspension, the first coil stator assembly, and the second coil stator assembly; and
a spring, operably coupled to the support structure, to hold the electric drive system at an elevated position above ground when no electrical power is being applied to the electric drive system,
wherein when the first torque and the second torque are applied to the magnetic rotor assembly at the same time, the first torque and the second torque cause at least one of:
the magnetic rotor assembly to rotate about the rotational axis; or
at least the magnetic rotor assembly, the first coil stator assembly, and the second coil stator assembly to move along a defined path that is in a transverse direction relative to the rotational axis.
17. The vehicle of claim 16 , wherein:
when the first torque and the second torque are substantially equal in magnitude and applied to the magnetic rotor assembly along a same direction, the first torque and the second torque primarily cause the magnetic rotor assembly to rotate;
when the first torque and the second torque are substantially equal in magnitude and are applied to the magnetic rotor assembly in opposite directions, the first torque and the second torque primarily cause at least the magnetic rotor assembly, the first coil stator assembly, and the second coil stator assembly to move along the defined path; and
when the first torque and the second torque are different in magnitude, the first torque and the second torque cause the magnetic rotor assembly to rotate and at least the magnetic rotor assembly, the first coil stator assembly, and the second coil stator assembly to move along the defined path.
18. The vehicle of claim 16 , wherein:
in response to the first torque being applied to the magnetic rotor assembly, a first reaction torque is applied to the first coil stator assembly;
in response to the second torque being applied to the magnetic rotor assembly, a second reaction torque is applied to the second coil stator assembly; and
the electric drive system further comprises:
a first torque link, coupled to the first coil stator assembly, to receive the first reaction torque from the first coil stator assembly; and
a second torque link, coupled to the second coil stator assembly, to receive the second reaction torque from the second coil stator assembly.
19. The vehicle of claim 16 , wherein each wheel assembly of the plurality of wheel assemblies includes the electric drive system.
20. The vehicle of claim 13 , further comprising:
a support structure coupled to the first coil stator assembly and the second coil stator assembly,
wherein the support structure is configured for attachment to a suspension of a vehicle.