US Patent 11394266 Two degree-of-freedom electromagnetic machine

A two degree-of-freedom electromagnetic machine includes an inner stator, a plurality of stator windings, an outer stator, a voice coil winding, a rotor, a plurality of spin magnets, and a plurality of tilt magnets. The plurality of stator windings, when electrically energized, impart a torque on the rotor that causes the rotor to rotate, relative to the inner and outer stators, about a first rotational axis, and the voice coil winding, when electrically energized, imparts a torque on the rotor that causes the rotor to rotate, relative to the inner and outer stators, about a second rotational axis that is perpendicular to the first rotational axis.