Compensating positioning system

Claim 2

A positioning system for providing a controlled relative movement between two members along at least a first axis, including: a first member forming a platen having at least a first area having a first energy configuration, and a second member disposed relative to the first member for independent movement relative to the first member along the first axis and with the second member including first means cooperative with the first area in a first phase relationship and energizable in a first phase relationship for producing a force between the second member and the first area of the first member to provide a displacement of the second member relative to the first member along the first axis and with the second member including second means cooperative with the first area in a second phase relationship different from the first phase relationship and energizable in the second phase relationship for producing a force between the second member and the first area of the first member to provide a displacement of the second member relative to the first member along the first axis and with the displacement provided by the force from the second means compensating for nonlinearities in the displacement provided by the force from the first means, each of the first and second means including a pair of means having a phase displacement different from the displacement between the first and second phase relationships and energizable in phases differing by such phase displacement.

Claim 3

The positioning system of claim 1 wherein the first member includes at least a second separate area defining coordinate relationship with the first area and having a second energy configuration and with the second member including third and fourth means spaced from the first and second means and defining the coordinate relationship with the first and second means and cooperative with the second separate area and having the first and second phase relationships and with the third and fourth means energizable in the first and second phase relationships with respect to the cooperative dispositions between the third and fourth means and the second separate area for producing forces between the second member and the second area of the first member to provide an independent displacement of the second member relative to the first member along a second axis having the coordinate relationship with the first axis and with the displacement provided by the force from the fourth means compensating for non-linearities in the displacement provided by the force from the third means, each of the third and fourth means including a pair of means having a phase displacement corresponding to the phase displacement between the pair of means in the first and second means and energizable in phases differing by such phase displacements.

Claim 4

The positioning system of claim 1 wherein the first area and a second area on the first member form a magnetic grid pattern providing a first and second energy configurations along the first axis and a second coordinate axis and with the second member including third and fourth means spaced from the first and second means and disposed along the second axis and magnetically cooperative with the magnetic grid pattern on the first member and with the third and fourth means energizable in the first and second phase relationships with respect to the cooperative diSpositions between the third and fourth means and the magnetic grid pattern for producing forces between the second member and the first member to provide an independent displacement of the second member relative to the first member along the second axis and with the displacement provided by the force from the fourth means compensating for non-linearities in the displacement provided by the force from the third means and with the first and second means producing a magnetic interaction with the magnetic grid pattern on the first member to generate the forces along the first axis and with the third and fourth means producing a magnetic interaction with the magnetic grid pattern on the first member to generate the forces along the second axis and with each of the third and fourth means including a pair of means having a phase displacement corresponding to the phase displacement between the pair of means in the first and second means and energizable in phases differing from such phase displacements.

Claim 5

The positioning system of claim 1 wherein the first member forms a flat surface and the second member is linearly displaced along the first axis.

Claim 6

The positioning system of claim 1 wherein the first means is energized with a first signal in the first phase relationship, the second means is energized with a second signal similar to the first signal but in the second phase relationship and wherein the first and second members and the first and second means are constructed to define a reluctance motor.

Claim 7

The positioning system of claim 5 wherein the first and second means are physically along the first axis a distance conforming to the phase displacement between the first and second signals.

Claim 8

The positioning system of claim 5 wherein the first and second signals have a 45* phase displacement and the first and second means have phse displacements of 45* along the first axis.

Claim 9

A positioning system for producing a controlled relative movement between a head and a platen along at least a first axis, incuding: a magnetic platen having at least a first magnetic configuration area and with the magnetic configuration area being disposed along the first axis, and a head positioned adjacent to the platen for movement relative to the platen along the first axis and with the head including first magnetic means disposed along the first axis in a first phase relationship and energizable in the first phase for providing a first force between the head and the first magnetic configuration area to provide movement of the head relative to the platen along the first axis and with the head including second magnetic means disposed along the first axis in a second phase relationship different from the first configuration and energizable in the second phase for providing a second force between the head and the first magnetic configuration area to provide movement of the head relative to the platen along the first axis and with the first and second means providing complementary forces in accordance with the first and second phase relationships to enhance the linearity of movement of the head along the first axis and with each of the first and second means including a pair of means disposed along the first axis in a particular phase displacement relative to each other and energizable in a relationship corresponding to the particular phase displacement.

Claim 10

A positioning system for producing a controlled relative movement between a head and a platen along at least a first axis, incuding: a magnetic platen having at least a first magnetic configuration area and with the magnetic configuration area being disposed along the first axis, and a head positioned adjacent to the platen for movement relative to the platen along the first axis and with the head including first magnetic means disposed along the first axis in a first phase relationship and energizable in the first phase for providing a first force between the head and the first magnetic configuration area to provide movement of the head relative to the platen along the first axis and with the head including second magnetic means disposed along the first axis in a second phase relationship different from the first configuration and energizable in the second phase for providing a second force between the head and the first magnetic configuration area to provide movement of the head relative to the platen along the first axis and with the first and second means providing complementary forces in accordance with the first and second phase relationships to enhance the linearity of movement of the head along the first axis and with each of the first and second means including a pair of means disposed along the first axis in a particular phase displacement relative to each other and energizable in a relationship corresponding to the particular phase displacement.

Claim 11

The positioning system of claim 8 wherein the magnetic platen includes at least a second separate magnetic configuration area disposed along a second axis coordinate with the first axis and having a second magnetic configuration and with the head including third and fourth magnetic means spaced from the first and second magnetic means and respectively disposed along the second axis in the first and second phase relationships and with the third and fourth means respectively energizable in the first and second phases for producing a force between the head and the second area of the magnetic platen to proVide an independent displacement of the head realtive to the magnetic platen along the second coordinate axis with the third and fourth means providing complementary forces in accordance with such first and second phase relationships to enhance the linearity of movement of the head along the first axis and with each of the third and fourth means including a pair of means disposed along the second axis in the particular phase displacement relative to each other and energizable in a relationship corresponding to the particular phase displacement.

Claim 12

the positioning system of claim 8 wherein the magnetic platen forms a magnetic grid pattern providing first and second magnetic configurations along the first axis and a second coordinate axis and with the head including third and fourth magnetic means spaced from the first and second magnetic means and disposed along the second coordinate axis in the first and second phase relationships and with the third and fourth means respectively energizable in the first and second phase relationships for producing forces between the head and the second mangetic configuration to provide a displacement of the head relative to the magnetic platen along the second coordinate axis and with the third and fourth means providing complementary forces to enhance the linearity of movement of the head along the second axis and with the first and second magnetic means and the magnetic grid pattern on the magnetic platen defining a first magnetic reluctance motor and with each of the third and fourth magnetic means including a pair of means disposed along the second axis in the particular phase displacement relative to each other and energizable in a relationship corresponding to the particular phase displacement and with the third and fourth magnetic means and the magnetic grid pattern on the magnetic platen defining a second magnetic reluctance motor.

Claim 13

The positioning system of claim 8 wherein the first magnetic means of the head are energized with first periodic signals and the second magnetic means of the head are energized with second periodic signals and wherein the first and second periodic signals have similar characteristics except for a particular phase displacement and wherein the first and second magnetic means and the magnetic grid pattern on the magnetic platen define a magnetic reluctance motor.

Claim 14

The positioning system of claim 11 wherein the first and second magnetic means are physically displaced along the first axis a particular distance conforming to the phase displacement between the first and second periodic signals.

Claim 15

The positioning system of claim 11 wherein the first and second periodic signals have a 45* phase displacement.

Claim 16

A positioning system providing a controlled relative movement between a head and a platen along first and second coordinate axes, including: a platen having areas defining first and second energy configurations along fist and second coordinate axes, a head positioned adjacent to the platen for movement relative to the platen along the first and second coordinate axes and with the head including first and second means disposed in a first particular phase relationship along the first axis and energizable in the first particular phase relationship for providing forces between the head and the first area to provide a movement of the head along the first coordinate axis and with the head including third and fourth means disposed in the first particular phase relationship along the second axis and energizable in the first particular phase relationship for providing forces between the head and the second area to provide a movement of the head along the second coordinate axis and with each of the first and second means including a pair of means disposed in a second particular phase relationship along the first axis and energizable in the second particular phase relationship and with each of the third and fourth means including a pair of means disposed in the particular phase relAtionship along the second axis and energizable in the second particular phase relationship, and means for individually energizing the first and second means respectively in the first phase relationship and the pair of means in each of the first and second means in the second phase relationship to provide compensating forces to enhance linearity in the movement of the head along the first coordinate axis and for individually energizing the third and fourth means respectively in the first phase relationship and the pair of means in the third and fourth means in the second phase relationship to provide compensating forces to enhance lineraity in the movement of the head along the second coordinate axis.

Claim 17

A positioning system providing a controlled relative movement between a head and a platen along first and second coordinate axes, including: a platen having areas defining first and second energy configurations along fist and second coordinate axes, a head positioned adjacent to the platen for movement relative to the platen along the first and second coordinate axes and with the head including first and second means disposed in a first particular phase relationship along the first axis and energizable in the first particular phase relationship for providing forces between the head and the first area to provide a movement of the head along the first coordinate axis and with the head including third and fourth means disposed in the first particular phase relationship along the second axis and energizable in the first particular phase relationship for providing forces between the head and the second area to provide a movement of the head along the second coordinate axis and with each of the first and second means including a pair of means disposed in a second particular phase relationship along the first axis and energizable in the second particular phase relationship and with each of the third and fourth means including a pair of means disposed in the particular phase relAtionship along the second axis and energizable in the second particular phase relationship, and means for individually energizing the first and second means respectively in the first phase relationship and the pair of means in each of the first and second means in the second phase relationship to provide compensating forces to enhance linearity in the movement of the head along the first coordinate axis and for individually energizing the third and fourth means respectively in the first phase relationship and the pair of means in the third and fourth means in the second phase relationship to provide compensating forces to enhance lineraity in the movement of the head along the second coordinate axis.

Claim 18

The positioning system of claim 3 wherein the platen includes a third separate area having the second energy configuration corresponding to the second coordinate axis and spaced from the second separate area and with the head including fifth and sixth means disposed in the first particular configuration along the secnd axis and energizable with the third and fourth means in the first phase relationship for providing a force between the head and the second and third areas to provide a movement of the head along the second coordinate axis and with each of the fifth and sixth means including a pair of means disposed in the second phase relationship along the second axis and energizable in the second phase relationship.

Claim 19

The positioning system of claim 14 wherein the first and second means and the first separate area are magnetic and the third and fourth means and the second separate area are magnetic and means are provided for introducing to the first and second means signals displaced in phase by the first phase relationship to energize the first and second means and for introducing to the pair of means in each of the first and second means signals displaced in phase by the second phase relationship and means are provided for introducing to the third and fourth means signals displaced in phase by the second phase relationship to energize the third and fourth means and for introducing to the pair of means in each of the third and fourth means signals displaced in phase by the second phase relationship.

Claim 20

The positioning system of claim 16 wherein the first and second means are physically displaced along the first axis a distance conforming to the phase displacement of the signals in the first phae relationship and the third and fourth means are physically displaced along the second axis a distance conforming to the phase displacement of the signals in the first phase relationship and the pair of means in each of the first and second means are physcially displaced along the first axis a distance conforming to the signals in the second phase relationship and the pair of means in each of the third and fourth means are physically displaced along the second axis a distance conforming to the signals in the second phase relationship.

Claim 21

The positioning system of claim 16 wherein the signals energizing the first and second means are phase displaced 45* and the signals energizing the third and fourth means are phase displaced 45* and the signals energizing the pair of means in each of the first and second means are phase displaced 90* and the signals energizing the pair of means in each of the third and fourth means are phase displaced 90*.

Claim 22

A positioning system providing a controlled relative movement between a head and a magnetic platen along first and second coordinate axes, including: a flat platen having a grid pattern extending along the first coordinate axis and extending along the second coordinate axis, a head positioned adjacent to the platen for movement relative to the platen along the first and second coordinate axes and with the head including first and second means displaced in a first particular phase relationship along the first axis and energizable in the first particular phase relationsHip for providing compensating forces between the head and the grid pattern on the platen to provide a movement of the head relative to the platen along the first coordinate axis and with the head including third and fourth means displaced in the first particular phase relationship along the second axis and energizable in the first particular phase relationship for providing compensating forces between the head and the grid pattern on the platen to provide a linear movement of the head relative to the platen along the second coordinate axis and with each of the first and second means including a pair of means displaced along the first axis in a second particular phase relationship and energizable in the second particular phase relationship and with each of the third and fourth including a pair of means displaced along the second axis in the second particular phase relationship and energizable in the second particular phase relationship, and means for individually energizing the first and second means in the first particular phase relationship and the third and fourth means in the first particular phase relationship and the pair of means in each of the first and second means in the second particular phase relationship and the pair of means in each of the third and fourth means in the second particular phase relationship.

Claim 23

A positioning system providing a controlled relative movement between a head and a magnetic platen along first and second coordinate axes, including: a flat platen having a grid pattern extending along the first coordinate axis and extending along the second coordinate axis, a head positioned adjacent to the platen for movement relative to the platen along the first and second coordinate axes and with the head including first and second means displaced in a first particular phase relationship along the first axis and energizable in the first particular phase relationsHip for providing compensating forces between the head and the grid pattern on the platen to provide a movement of the head relative to the platen along the first coordinate axis and with the head including third and fourth means displaced in the first particular phase relationship along the second axis and energizable in the first particular phase relationship for providing compensating forces between the head and the grid pattern on the platen to provide a linear movement of the head relative to the platen along the second coordinate axis and with each of the first and second means including a pair of means displaced along the first axis in a second particular phase relationship and energizable in the second particular phase relationship and with each of the third and fourth including a pair of means displaced along the second axis in the second particular phase relationship and energizable in the second particular phase relationship, and means for individually energizing the first and second means in the first particular phase relationship and the third and fourth means in the first particular phase relationship and the pair of means in each of the first and second means in the second particular phase relationship and the pair of means in each of the third and fourth means in the second particular phase relationship.

Claim 24

The positioning system of claim 19 wherein the first and second means form a reluctance motor with the grid pattern on the platen and the third and fourth means form a reluctance motor with the grid pattern on the platen.

Claim 25

The positioning system of claim 20 wherein the first and third means are physically displaced respectively from the second and fourth means a distance conforming to the phase displacement between the signals energizing such means and the pair of means in each of the first, second, third and fourth means are physcially displaced from each other a distance conforming to the phase displacement between the signals energizing such pair of means.

Claim 26

The positioning system of claim 20 wherein the signals energizing the first and third mans are respectively phase displaced 45* from the signals energizing the second and fourth means and wherein the signals energizing the pair of means in each of the first, second, third and fourth means are phase displaced 90*.

Claim 27

The positioning system of claim 13 wherein the first and second magnetic means have a 45* phase displacement along the first axis.

Claim 28

The positioning system of claim 23 wherein the first periodic signals constitute a pair of signals having a 90* phase displacement and the second periodic signals constitute a pair of signals having a 90* phase displacement.

Claim 29

The position system set forth in claim 14 wherein the areas on the platen constitute first and second separate areas having first and second energy configurations corresponding to the first and second coordinate axes.

Claim 30

The positioning system of claim 15 wherein the first separate area is disposed between the second and third separate areas and wherein the first and second means is disposed between the third and fourth means and the fifth and sixth means.

Claim 31

The positioning system of claim 18 wherein the first magnetic area and the first and second means define a first reluctance motor and the second magnetic area and the third and fourth define a second reluctance motor.

Claim 32

The positioning system of claim 27 wherein the platen is magnetic and the grid pattern on the platen is magnetic and the first, second, third and fourth means are magnetic.