A Survey on Rotary-Linear Motors
Used in Emerging Applications
Loránd Szabó
Department of Electrical Machines and Drives
Technical University of Cluj-Napoca
Cluj-Napoca, Romania
e-mail: Lorand.Szabo@emd.utcluj.ro, ORCID: 0000-0002-1096-4802
Abstract—The requirement for complex motion control
systems is steadily increasing in several emerging applications,
such as robotics, machine tools, flexible manufacturing systems,
automotive, etc. Usually, the needed complex movements are
performed by several conventional electrical machines. The
number of the actuating units, the required space to place them
and their total price can be diminished by applying electrical
machines with multiple degrees of mechanical freedom. The paper
is a survey of such rotary-linear motors, which can both rotate and
move on the axial direction, and in most of the cases they can
perform also o combined, helical motion.
Keywords—decoupling control, induction machines, permanent
magnet machines, rotary linear motors, two degree of freedom
motion, variable reluctance machines.
I. INTRODUCTION
Industrial machineries with two degrees of freedom (DoF)
motion, as such boring machines, grinders, threaders and many
others are frequently used. Upon the classical approach, the two
kind of movements can be assured by two independent electrical
machines, a rotary and a linear one. The combined motion could
be performed by means of low efficiency appropriate
mechanical arrangements and coupling devices. Therefore, there
is a real interest for a more efficient and space saving approach
consisting of the use of electrical machines which can develop
both torque and axial force in a properly controllable manner
(see Fig. 1). The development of such rotary-linear machine
(RLM) is a genuine engineering challenge. Unfortunately, in this
topic only a few research groups are involved round the World.
Fig. 1. Electrical machines able to perform different types of motion [1]
D. Howe was the first researcher who underlined the
industrial importance of multi degrees of freedom motors, as
counterparts of multiple electrical machines performing a single
type of motion [2].
Due to their particular movement, the RLMs require also
specific linear-rotary bearings. These must avoid the shaft to
978-1-7281-4878-6/19/$31.00 ©2019 IEEE
rotate smoothly and with low friction simultaneously with the
straight-line movement of the machine.
There are three basic types of electrical machines with two
DoF: the surface (planar) motors with a flat structure [3], the
spherical motors [4] and the rotary-linear ones, having a
cylindrical construction [5]. Generally, combined rotary-linear
movements can be achieved by means of three actuator
topologies, as shown in Fig. 2 [6].
x x
x
x
x x
parallel series integrated
coupled coupled topology
Fig. 2. Two DoF actuator topologies [6]
To assure the complex movement, the most facile solution is
to use two parallel coupled conventional rotary and linear
actuators. By means of this, the two motions are perfectly
independent. The main drawback of this approach is the high
space requirement, because the linear motor must move also the
entire rotary motor. The series coupled structure has two
separate stators with a common shaft, and therefore it is simpler.
The distance between the two stators must be at minimum the
linear stroke of the RLM. The control of these two types of
RLMs is quite simple, hence the two parts of the machine are
physically separated, and the different movements are
decoupled. The most compact and innovative topology is of the
third, the integrated one, which has only a single stator and
mover. In this case, the length of the stator does not depend on
the linear stroke of the RLM. On the other hand, as the two types
of motion are magnetically linked; the two DoF movements can
be more hardly controlled independently. Another drawback of
this structure is that the two windings corresponding to the
different movements are placed in the common stator, thus its
manufacturing is more problematical [6].
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 II. ROTARY-LINEAR MOTORS
In the literature, several types of RLMs are cited. These
basically works upon the same physical phenomena as their
rotating or linear counterparts.
A. Induction Rotary-Linear Motors
The first RLMs developed at the beginning of the 1970s were
mainly of induction type. The so-called rack-and-pinion motors
were rudimental machines, but they could perform both linear
and rotational motion, a yet unknown feature at those times [7].
They had a conducting cylinder (the mover armature) suspended
over a flat linear induction motor stator. This was able to rotate
round a shaft, while displacing linearly. Thus, the mover
assembly could perform two DoF movement. Unfortunately, at
that time this motor remained as a technical curio, without
practical applications.
Following this, also other induction RLMs were developed.
They had two basic features: a linear relationship between the
rotary and linear speeds when helical motion was performed,
and the constant ratio of the torque to axial force, which
depended only on the motor structure [8]. Due to these
characteristics, they were hard to control, and hence the industry
was not interested of them. In later developed induction RLMs
the torque and axial force could be controlled independently,
leading to the first industrial applications of such machines. The
induction RLMs with practical importance can be with twin
armatures, or with double winding [9].
The stator of the twin armature induction RLM comprises of
two parts: one for generating the rotating magnetic field, another
one the traveling one. The mover is common for the two stators,
and it a solid iron cylinder covered with a thin layer of copper.
A typical construction variant is given in Fig. 3. Basically it can
be regarded as two combined independent induction machines:
a conventional rotary one and a linear-tubular variant, having
their rotors rigidly joined [5].
A–A Cu layer A
Mover
Rotary winding A
Rotary armature Linear armature Linear winding
Fig. 3. Twin armature induction RLM [5]
By independently controlling the voltages supplying the two
stators, rotary, linear and combined helical motion can be
achieved. The direction of the movement depends on the forces
acting on the common rotor, created by the magnetic fields
generated by the two stator armatures. The two stators must be
designed in a way as not to be magnetically linked. If this is
fulfilled, the rotary motion will not affect the generated magnetic
field. But the linear speed of the machine will have an influence
on the performance of the rotary movement, which must be
taken into consideration [6], [8]. Such simplistic motor
combination approach was proposed also by P. de Wit et al.
Their motor had a very simple solid aluminum cylindrical mover
[10].
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Upon another approach the induction RLM can be built up
also with a single stator stack having two sets of winding [11].
This constructional solution (given in Fig. 4) is more compact
than that presented previously, but it is also more complicated.
As it can be seen, it has an axial winding which generates a
rotating circular magnetic field (1) and a ring-type winding
which produces a traveling magnetic field (2), both inside a
common stator iron core (5) and the housing (3). As in the case
of almost all RLMs, the long cylindrical mover (4) can rotate,
displace linearly and perform a compound helical movement.
The rotor of this induction RLM, which has to interact with
both of the magnetic fields, can be a solid, a cylinder with a twin
iron and copper layer [11], or with crossed bars (as that shown
in Fig. 4) [12].
Fig. 4. Double winding induction RLM [12]
K. Kluszczynski et al. presents in [12] the way as both above
detailed induction RLM variants can be easily built up mainly
by using components of on-shelf three-phase squirrel cage
induction machines.
In [13] T. Onuki et al. propose a multi stator induction RLM,
composed of four commercial induction machine stators with a
common mover. The control of the helical two DoF motion is
assured by means of controlling the phase angle of the four
voltages feeding the four sets of stator windings. This way, the
operation of the induction RLM can be assured in all the four
quadrants of the rotary-linear plane. The authors proved by
means of both analytical and experimental investigations, that
the greatest linear forces can be achieved when the stator
windings have large pole pitch, and the supply voltages have the
phase-difference of 90°. This machine was developed for
actuating portable drilling machines, due to their small diameter.
Their construction is cheap, since several off-shelf motor
components are used.
Induction RLMs can achieve high angular velocity, but only
lower linear speed than the usual linear induction machines.
Their maximum achievable efficiency is round only 60% [5].
The mechanical characteristics (torque and axial force versus
slip) of such machines are like those of the rotary and linear
tubular motors with double-layer rotors.
B. Permanent Magnet Rotary-Linear Motors
As in the case of linear electrical machines, the greatest
variety of RLMs are with permanent magnets (PMs). The reason
is that the PMs assure high efficiency and power density, and in
a consequence compactness to the RLMs. This feature is very
important since the main reason of applying such machines is
the space reduction. Supplementary, PM RLMs usually have
good servo characteristics, which makes them ideal for advanced
industrial applications.
 One of the simplest series coupled PM RLM was proposed
in [14]. Both parts of the cylindrical machine, those performing
the linear and the rotational movements, are slotless PM
actuators with concentrated windings having a common mover
(see Fig. 5). Two optical encoders are integrated into the
machine to measure the mover position on the two axes.
x
Rotary
actuator
Position
sensor
Linear
actuator
Fig. 5. Series coupled PM RLM [14]
This PM RLM has some advantages, as the lack of cogging
due to the slotless structure. The fully axial-symmetric structure
of the linear machine part enables an independency of the rotary
motion. A basic drawback is its excessive length.
A more compact PM RLM, with the two concentrically
stacked actuators, was proposed by Jang et al. [15]. The mover
comprises of two cylindrical Halbach arrays [16] of different
patterns, separated by a cylindrical iron core piece (see Fig. 6).
A' B
magnetic
C C' core
r
B' A
z Stator
z core
A B'
coil
A'
C' C
B A'
Fig. 6. PM RLM with double Halbach array [15]
The excitations of the two motor parts are generated in the
exterior and interior stator. The first one is for the rotational
motion, while the second one for the linear movement. The
distributed windings of the outer stator (corresponding to the
rotary part of the motor) are supplied by a three-phase voltage
system, while the concentrated coils on the inner stator (that for
the linear movement) by a dc source. The two Halbach arrays
are generating two magnetic fields of different directions in the
air-gap of the machine. Both PM fields are interacting with the
excitation currents causing two forces on the orthogonal
directions. These force components and their resultant can be
controlled by means of the currents of the two excitations.
Consequently, linear, rotary or helical motions are possible. Due
to the inherent self-shielding property of the two PM sets [16],
the two sets of PMs do not influence each the other. A drawback
of this RLM is its quite complicated construction (two stators
with two sets of windings, two Halbach arrays, etc.).
More compact PM RLM variants are the so-called integrated
versions of these electrical machines, which usually have a
single surface mounted PM pattern on their mover, and diverse
sets of coils on their stator for generating the magnetic flux
needed for the two DoF motion.
The movers of the first such variants were with a
checkerboard PM array. This way of placing the PMs, given in
Fig. 7, was already widely investigated in the literature in the
case of planar (surface) motors [17].
z
y z
x
Fig. 7. Similarity between the tubular PM RLM and PM surface motor [18]
A first set of its coils were placed on the axial direction, to
ensure the rotation, while the other one was distributed
circumferentially to provide the axial force [19], [20].
Several such RLMs were developed by P. Bolognesi and his
collaborators [21], [22], [23]. These all were of modular
construction, an efficient and relatively new approach in
electrical machines [24]. The simplest, three-phase variant with
two stator modules is given in Fig. 8.
Coil
Mover
core
r
Permanent
magnet
Fig. 8. A modular integrated PM RLM [23]
The stator modules have salient poles with concentrated
coils, which can be connected in different ways to obtain a
poly-phase symmetrical winding. The modules are very similar
with the stators of the brushless dc machines. The mover is an
empty ferromagnetic cylinder, having an even number of surface
mounted PMs, alternatively magnetized on the radial direction.
The linear stroke of the RLM depends on the distance between
the stator modules and the axial length of the PM array. This
LRM can be constructed in diverse variants with different
number of stator modules (which in some cases can also be
shifted symmetrically on the radial direction). Also, the number
of poles on the modules, of the PMs placed on the mover, or of
the phase can vary from a variant to another [21]. For example
in [22] a four-phase four-modules alternative is presented.
Similar integrated PM RLMs were proposed also with a
single stator core, as that developed by P. Jin et al. [25].
Comparing the structure of the integrated variants with other
PM RLMs, it can be stated that it is simple, and has short axial
length. It can be manufactured via widespread techniques and by
using common materials. Also, it's very good decoupled control
of the axial force (F) and torque (T) should be obligatory
mentioned. This enables the independent control of the rotary
and linear motions to be performed by the RLM. This feature is
well-demonstrated by the simplified mathematical model of the
machine shown in Fig. 8 [23]:
 F  0  (i Ad  iBd ) 
 T   l   p  ( y  i  (l  y )  i )  (1)
   Aq Bq 
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where y is the axial position of the mover, p the number of pole
pairs, l the linear stroke and 0 the transformed magnetic flux
at no-current condition. In the case of the currents, the A and B
subscripts are related to the two stator modules (module A and
B), and d and q to the two axes in quadrature. By analyzing
equation (1) it can be easily observed, that the axial force is
linearly proportional to the difference between the two d-axis
currents components, while the torque generated by the RLM is
equal to a linear combination of q-axis currents with coefficients
that vary in complementary proportional way with the linear
position.
On the side, as a drawback, the great number of PMs required
should be mentioned. In addition, from this great number of PMs
only a small amount is actively interacting with the stator
currents at each moment of the motion, making these structures
less efficient.
To reduce the number of the PMs K. Guo et al. proposed to
replace each second PM with a similar sized iron core piece [26].
Its rotor with the so-called interleaved poles (PMs swapping iron
core pieces) is given in Fig. 9.
Ferromagnetic
poles
S
N travels in such an angular and linear position as to achieve a
N
S minimum reluctance position (when poles on both armatures are
Permanent
magnets
Fig.9. PM RLM rotor with interleaved poles [26]
This PM RLM has 3 stator stacks separated by non-magnetic
rings, each module having 12 salient poles with concentrated
coils. The rotor has 12×16 poles (96 PMs and 96 made of iron
core). It was demonstrated, that for the proposed structure, even
if the quantity of the used PMs was reduced to the half, the power
density was not compromised. The comparison with the PM
RLM of similar sizes proposed in [18] revealed that back-emf,
torque and axial force are only diminished by round 15÷17%
[26].
Upon a totally other approach, a helical PM RLM was
proposed by Y. Fujimoto et al. in [27]. The so-called screw
motor has itself a unique spiral structure, as it can be seen in
Fig. 10.
Permanent
magnet
Stator core
Mover core
x Winding
Shaft
Fig. 10. The helical (screw) PM RLM [28]
Both of its iron cores have a special helical shape with equal
lead length. The stator has surface slots in which two distributed
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three-phase windings are placed. These can generate the axial
direction magnetic flux. The mover has two iron core layers
having among them helical-shaped alternatively and axially
magnetized PMs.
Even if the iron cores of this RLM can be manufactured of
easy-to-machine free-cutting steel with high permeability or of
soft magnetic composites (SMCs) [29], the structure (including
the specially shaped PMs) seems complicated and requires
special fabrication technology. Moreover, this PM RLM can
perform only helical movement (and not independently rotary
and linear one), which makes it to have limited application areas.
On another hand, this PM RLM has very high axial force
density, since the thrust force is directly proportional to the
air-gap area and inversely proportional to the air-gap length, this
RLM has very high force density [28].
Tanaka et al. proposed an axial length optimized PM RLM
comprising of a helical-windings and two bobbins on its stator,
and a shaft with surface mounted PMs. To achieve high power
density the PMs were arranged in a Halbach array [30].
C. Variable Reluctance Rotary-Linear Motors
Also, some of the variable reluctance (VR) type electrical
machines have they rotary-linear counterparts. These, as their
rotational or linear variants, work upon the minimum magnetic
reluctance principle, namely that the passive salient mover
aligned) [31].
The RLM based on its most typical variant, the switched
reluctance motor (SRM), is also a potential candidate to provide
two DoF movement. This is due to its numerous appealing
features, as easy-to-manufacture rugged and robust construction,
low maintenance needs, simple power converter, wide speed
range, etc. [32].
The rotary-linear SRM proposed in [33] is a simple but
efficient combination of the rotational and linear SRMs. It has
all the pluses of the SRMs: simple, but robust construction, low
manufacturing and maintenance costs, high reliability and fault
tolerance, and easy control. In Fig. 11 the iron core of this
machine can be seen. The stationary part is comprising of 3
equally shifted usual 8 poles SRM stators. Each of the stator
poles have a concentrated coil wound around. The mover is also
constructed in a modular way. It has usual 6 poles SRM rotor
stacks placed on the shaft. Their number depends only on the
length of the intended axial displacement. The rotation or linear
movement of this RLM can be achieved by the adequate
supplying sequence of the stator coils.
Fig. 11. The modular iron core of the rotary-linear SRM [33]
Upon another approach of the rotary-linear SRM, mainly
similar iron core pieces taken from the already known rotary or
linear SRMs are used. In the motor proposed in [34] two separate
sections assure the two movement types, as it can be seen in
Fig. 12. The three-phase motor part for the rotational movement
is placed in the middle. Basically, it is a 6/4 poles common rotary
SRM. The single difference is that the stator stack length has
twice that of the rotor, to be able to rotate at different axial
displacements of the mover. The part of the motor which assures
the linear movement resembles with a two-phase transverse flux
linear SRM. Its two stator iron core stacks have 6 poles (as that
for the rotational motion). The two corresponding iron cores on
the mover (placed on the two sides of the rotor stack) are simple
cylindrical ones. The main disadvantage of this structure is its
limited linear stroke.
Stator for Mover stack for
linear movement linear movement
Shaft
z reserves, etc. [39].
Mover stack for Stator for
rotary movement rotary movement
Winding
Fig. 12. The rotary-linear SRM proposed by M.M. Nezamabadi et al. [34]
A similar machine, but with much longer stroke possibilities
was developed by J.F. Pan et al. The main differences against
the previously detailed rotary-linear SRM is that it has 2 two
salient pole rotational stack, and 3 for the linear motion, as it can
be seen in Fig. 13. The mover is a passive toothed cylinder. For
independently controlling the two types of motion a simple but
efficient net torque methodology based decoupling method was
proposed [35].
Fig. 13. Pan's rotary-linear SRM [35]
Also stepper motors were suggested in rotary-linear variants
[36], [37]. The RLM shown in Fig. 14 seems like the
well-known teethed rotating stepper motor of variable reluctance
type. Half of the stator poles are teethed axially, while the other
ones on a perpendicular direction to this. The first mentioned set
of poles are used to generate the rotational movement, and the
other ones the linear one. As in the previously detailed case, all
the poles have concentrated coils wound around them. The rotor
comprises if two half teeth pitch shifted iron core stacks. They
equally have teeth both on the circumference and axial direction
to assure the dual motion for this RLM. By an adequate
supplying of the stator, two DoF motion can be achieved [36].
Fig. 14. Rotary-linear stepper motor [36]
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III. COMPARISON OF DIFFERENT TYPES
A comparison between the RLMs taken into study in this
paper should be of real interest. Without any doubt, the variants
with PMs have the higher torque/force density and efficiency
among all RLMs. In addition, they are easier to model, control
and cool than the induction RLMs. On another hand, induction
and VR RLMs have more robust, cheaper and easier to
manufacture movers. In the case of the first ones, the movers can
be only simple conductors or conductive layers, while the VR
RLMs all have totally passive movers [38].
The above-mentioned main advantages of the PM RLMs are
valid only if high-power rare earth metals-based PMs are
applied. Unfortunately, the use of these magnetic materials has
some disadvantages. These are mainly due to their high prices,
lower maximum allowable temperature, low resistance to
corrosion, hard-to-predict price, rapid diminution of ore
IV. POSSIBLE APPLICATION AREAS
The most important application fields of the RLMs are in
industry, especially in those cases where complex, multiple DoF
motions are needed, but the space to place independent motors
for each movement is not possible. Thus, RLMs can be used in
pick and place machines, for example to populate PCBs with
electronic components [10], [40]. They can be also applied in
robotics (for a press-fit assembly, or tracking a compound arc
conveyor section), boring machines, grinders, etc. [5], [41].
Another possibility to employ RLMs is in automotive
applications. RLMs had been designed for acting directly on the
shift rails of an automated manual transmission or of a dual
clutch transmission to assist the suitable gear selection [42]. A
very interesting research is concerning the use of PM RLMs in
integrated driving and steering systems developed for electrical
vehicles. Here the RLMs has to both propel and steer the active
wheels of the vehicle [43].
Of course, applications of RLMs can be found in several
other areas (including striking ones), too. For example a single
RLM can solve a part of the motion in a 5-axis grinding machine
tool used in customized dental restorations [38].
V. CONCLUSIONS
As it could be seen, a great variety of RLM variants were
proposed in the literature. The author intended to include in the
paper a mapping of the developed torques and thrusts, efficiency
and power density of the RLMs taken into study, but such
information was not available in most of the cases. He faced the
same situation also in the case of the mover inertia, an important
issue from the control point of view.
RLMs being newcomers in the field of electrical machines
with special construction, their market penetration still needs
time, even if they could be used effectively in a great variety of
industrial applications. Their promising future can be a good
catalyzer of the further developments in this field.
ACKNOWLEDGMENT
This paper was supported by a grant of the Romanian
National Authority for Scientific Research and Innovation,
CCCDI – UEFISCDI, project number 21/2017 ERANET-LAC
SWTOMP, within PNCDI III.
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