| Summary: | Multiple degree-of-freedom motions are employed in numerous industrial products (e.g., robotic arms). They can be regarded as the combination of several two degree-of-freedom motions, which are classified as the rotary-rotary type, linear-linear type, and rotary-linear type (i.e., spheric, planar, and helical motions, respectively). Among them, extensive investigations have been made on realizing helical motion based on integrated electric machines. Targeting at the demerits of the conventional topologies, which are magnetic field decoupling issue, poor dynamic performance, complex structure and decoupling control scheme, four types of integrated rotary-linear electric machines are designed. In the process of research, both analytical and numerical methods are carried out for comprehensively exploring the qualitative and quantitative aspects of the proposed structures. Compared with conventional solutions, those designed rotary-linear machines exhibit higher electromagnetic performance and integration level. Finally, a prototype has been manufactured for verification in practical scenario.
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