US 201700408568 cu») United States 2) Patent Application Publication LATULIPE et al. oy ow ~ o en 2) 66) INSERTED PERMANENT MAGNET ROTOR FOR AN EXTERNAL ROTOR ELECTRIC MACHINE Applicant: TM4 INC., Boucherville (CA) Inventors: Erie LATULIPE, Ste-ulie (CA) Rulsheng SH, Montreal (CA); Arbl GHARAKHANI, Verdua (CA); Martin DULE, Laval (CA); Jean-Philippe DEXTRAZE, Delson (CA); Benjamin MARTINEAL, Varennes (CA) Assignee: TM4 INC,, Boucherville, QC (CA) Appl. Nos 15/804,229 PCT Filed: Apr. 18, 2015 PCTNo: — PET/CA2018/050911 $371 (eX), (2) Date: et 14, 2016 ao) Pub, No.: US 2017/0040856 Al (43) Pub. Date: Feb. 9, 2017 1 Related US. Application Data (60) Provisional application No. 61/979,671, filed on Ape. 15, 2014, Publication Classification (1) Insc. MOK 1728 200501) HO2K 2122 (2006.01), MOK 127 (2006.01), (2) Us. cic HO2K 128 (2013.01), HORK 12786 (2013.01); Ha2K 2122 2013.01) ABSTRACT tema rotor for an electric machine includes a eyline rically shaped receptacle having a peripheral wall aad a ‘mugnet-receiving assembly including segments assembled ‘o the inner surface ofthe peripheral wall so as to define a cylindrically shaped stack The segments are shaped so ast yield magnet- receiving portions in the ring-shaped slack, land permanent magits are secured to the magnet-receiving portion of the magnet receiving assembly.Patent Application Publication Feb. 9,2017 Sheet 1 of 12 US 2017/0040856 A1 8 a1atent Application Publication Feb. 9, 2017 Sheet 2 of 12 US 2017/0040856 A1US 2017/0040856 AI Feb. 9, 2017 Sheet 3 of 12 Patent Application Publication ~dAPatent Application Publication Feb. 9,2017 Sheet 4 of 12 US 2017/0040856 A1Patent Application Publication Feb. 9,2017 Sheet 6 of 12 US 2017/0040856 A1Patent Application Publication Feb. 9,2017 Sheet 7 of 12 US 2017/0040856 A1Patent Application Publication Feb. 9,2017 Sheet 8 of 12 US 2017/0040856 A1 —s-_ SA —t=-_ OBPatent Application Publication Feb. 9,2017 Sheet 9 of 12, US 2017/0040856 A1 100 = _ 108 08Patent Application Publication Feb. 9, 2017 Sheet 10 of 12 US 2017/0040856 A1Patent Application Publication Feb. 9,2017 Sheet 11 of 12 US 2017/0040856 A1Patent Application Publication Feb. 9,2017 Sheet 12 of 12 US 2017/0040856 A1US 2017/0040856 AI INSERTED PERMANENT MAGNET ROTOR OR AN EXTERNAL ROTOR ELECTRIC ‘MACHINE, FIELD {0001} The present disclosure generally relates to electric ‘machines. More specifically, the preseat disclosure is eon- ‘cemed with an inserted permanent magnet (IPM) rotor for ‘an external rotor electric machine, BACKGROUND [0002] The use of inserted permanent magnet (IPM) in ‘eleczic machines s well known, Such technology allows the redvetion of the number and/or sizeof magnets and as been ‘essentially used in conventional electric machines, i. those ‘including a rotor mounted ino a stator for rotation coaxially therein. 10003] Icha been found desirable w provide the rotor of ‘an external rotor electric machine with TPM, SUMMARY, {0004} | Thediiculty of providing an external motor electric ‘machine with IPM is solved by mounting permanent mag- ets in ring-shaped assembly secured kr the rotor inner wall 10005] In accordance with an illustative embodiment, there is provided an extemal mtor for an electric machine ‘comprising a eylindricaly shaped receptacle including 3 Peripheral wall provided with an inner surfoce and an Inpuvoutput shalt coaxial therewith, The rotor also coy prises a magnet receiving assembly including elements ‘assembled to the peripheral wall inside the eoeptacle 80 a8 to define a cylindrically shaped stack; the lamination ele- ments being shaped so aso yield magnet-receiving portions in the eylindrially shaped stack; and permanent magnets scoured to the magnet-teceiving assembly’ in the magnet- receiving portions 10006) “In accordance with another illustrative embodi- ment, there is provided an external rotor for an electic machine comprising a cylindrically shaped receptacle including peeiphoral wall having an inner surface: magnet recciving assembly including circular laminations assembled tothe inner surface ofthe peripheral wal 0 a8 0 define a generally cylindrically shaped stack; the lamina- tions being so shaped as to yield magnet-receiving portions in the cylindrically shaped! stack; and permanent magnets secured (0 the magnetreceiving portions of the magnet receiving assembly 0007} "Other objects, advantages and festures will become more apparent upon reading of the following non-restctive description of illustrative embodiments thereof, given by Way of example only with reference to the accompanying drawings BRIEF DESCRIPTION OF THE DRAWINGS 10008] In the appended drawings: [0009] FIG. 1 isa cross section of an external ror electric ‘machine according to a fit illistrative embodiment; [0010] FIG. 2 is » perspective view of the rotor of the ‘elocric machine front FIG. 1: [0011] FIGS. 34 and 3B are tp plan view of the extemal rotor from FIG, 2; FIG. 38 illustrating the mounting of the Feb. 9, 2017 [0012] FIG. 4 is perspective view of an extemal rotor fcording to 2 second illsirative embodiment: [013]. FIG. 5 is perspective view of an extemal rotor fsecording to 2 third illustrative embodiment [014] FIG. 6 is a broken away top plan view of a lamination assembly with permanent magnets secured thereto, both parts of an extemal rotor according to fourth illustrative embodiment [0015] FIGS. 7A and 7B are broken away top plan views fof a lamination assembly with permanent magnets secured thereto, both parts of an extemal rotor according to a fifth illustrative embodiment; FIG. 72 illustrating the mouating of the lamination assembly and permanent magnets to the cylindrically shaped receptacle of the external rotor, [0016] FIGS. 8A and 8B are broken away’top plan views ‘of a lamination assembly with permanent magnets secured thereto, both parts of an external rotor according to a sixth illustative embodiment, FIG. 8B illustrating the mounting ofthe lamination assembly and permanent magnets to the cylindrically shaped receptacle of the external rotor, [0017] FIGS. 9A and 98 are broken away top plan views ‘of a lamination assembly with permanent magnets secured thereto, both parts of an external rotor aecaring toa seventh illustrative embodiment, FIG, 9B illustrating the mounting ofthe lamination assembly and! permanent magnets to the cylindrically shaped receptacle of the extemal rotor, [0018] FIGS. 108 and 108. are broken away top plan views of a lamination assembly with permanent magnets secured thereto, both pars ofan extemal rotor according t0 4 eighth illustrative embodiment, FIG. 108 illustating the ‘mounting of the lamination assembly and pemnanent mage pets to the eylindrcally shaped receptacle of the extemal [0019] FIGS, ALA and 118 are broken away top plan views fof a lamination assembly with permanent magnets secured thereto, both parts of an external rotor according to a ninth illustative embodiment, FIG. 1B illustrating the mounting of the lamination assembly and permanent magnets to the cylindrically shaped receptacle of the extemal rotor [0020] FIGS. 124 and 128. are brokea away top plan views of a lamination assembly with permanent magnets secured thereto, both pars ofan extemal rotor according 10 a tenth illustrative embodiment, FIG. 12B ilusirang the ‘mounting of the lamination assembly and permanent mag- pets to the eylindscally shaped receptacle of the extemal rotor and [0021] FIG. 13 is top plan view ofa lamination assembly with permanent magnets secured thereto according to a cleventh illustrative embodiment. DETAILED DESCRIPTION [0022] The use of the word “a of “an” when used in ‘onjunetion with the tem “comprising” in the claims andor the specification may mean “onc”, but itis alsa consistent ‘ith the meaning of “one or more”, “at least one”, and “one for more than one". Similarly, the word “another” may mean at least a second or more. [0023] As used in this specification and claims), the ‘words “comprising” (and any form of comprising, such as eomprise” and “comprises"), “having” (and any form of faving, such as “have” and including” (and any form of including, sueh as 1d “neludes”) orUS 2017/0040856 AI “containing” (and any form of containing, such 25 “eo and "contains”), are inclusive or open-ended and ‘exclude alditional, unrecited elements o process steps. 0024) The expression “electric machine” should be broadly construed herein aad in the appeased claims s0 as 'o include electric motors, electric generators and the like. 10025] The expression “connected” should be broadly ‘constred erein snd inthe appended claims so ast include ‘any cooperative or passive association between mechanical parts or components. For example, such paris may be ‘connected together by dieect coupling, oF indirectly coupled Using fther parts thercheween 10026] | With reference first to FIGS. 1,2, 3A and 3B ofthe appended dniwings, a first illustrated embodiment of aa ‘extemal rotor electie machine 10 will now be described. 10027] The external rotor elevtie machine 10 comprises san extemal rotor 12 provided with an integral coaxial hub 44, aad internal stator 16 mouated to the rovor 12 coaxially therein for rotation of the rotor 12 thereabout, ad a gener ally eylindreal cooling member 18 secured to the stator 16, therein 10028] Ics to be noted that the stator 16 is not limited 10 the illustrated embodiment, Sine stators are believed 0 be ‘well known in the art, the stator 16 will not be further described herein for concision pueposes. [0029] The extemal rotor 12 comprises « cylindrically shaped receptacle 20 including a peripheral wall 22 and an ‘ntogral cap 24 provide at its longitudinal end 26. The ub 143s provided in the exp 24 coaxially with the wall 22. The hub 14 allows receiving an inpuvoutput shaft (oot shown) internally or externally with respect tothe receptacle [0030] The rotor 12 father includes ) a magnet receiving assembly 28, including segments 30 that are assembled into 1 eylindrcally shaped stack and secured to the peripheral wall 22 inside the receptacle 20, and i) permanent magnets 32 that ure secured wo the magnel receiving assembly 28, Por that purpose, the segments 30 are shaped so as 10 yield magnet-receving portions therein. 10031} According tothe fist illustrative embodiment, the segments 30 are made of « plurality of laminations, as ca bre better seen from PIG, 2, The segments 30 are inthe fon of ring sections resulting for example from stamping oF cutting strips of magnetically susceptible material, OF ‘course, the sepments 30 may result from other manufactur ing processes [0032] Prior to their mounting onto the inner surfiee 34 of the peripheral wall 22, the laminations are pre-essembled Jno the seuments 30 and a permanent magnet 32 is posi tioned in each of the two lateral magnet-receiving portions Jormed in the segment 30, 10033] According to the fist lustrative embodiment, dhe Segments 3 have # thickness equivalent tothe height ofthe ‘magnets received therein, According to another embdiment (not shown), each lateral side of a segment 30 receives wo ‘or more abutled permanent mages 10034) The segments 30 are assembled for example by using a partial and Tocal deformation (aot shown) of the laminations achieved by punching. The permanent magnets 32 are secured to the segments 30 using an adhesive, The resulting segment is socured tothe inner surface 34 of the receptacle 20 using an adhesive, Other fastening means can alsa be used, stich as other mechanical or chemical festen- ing, including soldering Feb. 9, 2017 [0038] According to another embodiment, the permanes ‘magnets 32 are directly positioned onto the segments ‘without an adhesive. [0036] As can be ssen from PIG. 2, the ring segments 30 fre so shaped as to define a central proesion 38 that is shaped s0 a8 to yield two rounded notches 40 between the central protrsion and respective lateral magnet-receiving portions 33. Within a segment 30, the notches 40 together Sefine @ channel 42 between the central protusion and respective magnets 32 that prevents the magnetic fild to ireelly go from the magneis 32 to te central protrusions 38. Fach noteh 40 defines. with the magnet-receiving por- ‘ion 33, a small shoulder that helps positioning and main- ‘wining in place the magnet 32. [0037] The segments 30 are dimensioned so as to yield a small angular gap 36 between adjacent segments 30 when they are msembled on the inner surface 34 ofthe receptacle 20, This cases their mounting onto the receptacle 20 rom radial dreotion (See aos 48 ia FIG. 38), [0038] Caps 46 are provided onto adjacent magnets 32 of to adjacent segments 30 (see artow 49 in FIG. 3B). The caps 46 are made of magnetie powder, which allows a functional magnetic penicaility anda low electric condnc- tivity, A penon skilled in the art will also appreciate that there is no direct connection betwoen the eaps 46 and the segments 30, thereby preventing magnetic short ciruit. It ‘ill also be apparent to one skilled in the art that the caps 46 could be made of stacks of laminations of of other soft ‘magnetic material (SMC), [0039] The thickness and configuration ofthe magnets 32 aps 46, and segments 30 are such thatthe resulting assem bly 28 yields a yenerally evenly rounded surface of the rotor 12, wth the exception ofthe channels 42, thereby improving the electric machine efficieney. [040] Both the inner surface 34 of the receptacle 20 and the facing contacting side of the segments 30 can be pro- vided with cooperating guiding elements such as tongues and grooves (not shown) to help position and assemble the ‘segments 30 within the receptacle 20 [041] Since the permanent magnets 32 are mounted to the rcceplacle 20 of the rotor 12 via a magnet receiving assem- bly made of magnetically susceptible material, the recep- tacle 20 itself's not limited to being made from magnetically susceptible metals and can be made of other materials such as plastics, other metals such as aluminum and fiber rein- Torced plastics, amongst others [0042] FIG. 4 shows an external rotor for an extemal rotor electric machine aeconding toa second illustrative embod herein the eaps 46 are omited [0043] FIG. 8 shows an external rotor $0 for an electric ‘machine according to thied illustrative embodiment. Since the rotor 80 is similar tothe rotor 12, only the differences therebetween willbe described hereinbolow in more detail {or concision purposes. eis to he noted that some ofthe caps 46 have been omitted only to alleviate the drawing [0044] According to this embodiment, «first row of see- ‘ments 38 is assembled to the receptacle 20 inside thereof and the next adjacent row is similarly assembled to the recep- tacle 20 so as to be angularly shifted with regards to the previous adjacent row. While this angular shifts of three 3) degrees according to the thicd embodiment, other angular shift angles can also be foreseen.US 2017/0040856 AI {rom one row of segments to the next tncel hantionies and to reduce cogging 0046) ‘machine according to 2 fourth illustrative embodiment. Since the rotor 60 is similar to the rotor 12, only the differences therebetween will be described herein in more FIG, 6 shows an external rotor 60 for an electric ‘desal for coacision purposes [0047] According to this fourth embodiment, each sex- ment 64 is provided with central magnet-receiving portion 63 and with two lateral proteusions 68, 67 10048} The angular gap 62 between two consecutive seg- ments 64 is minimized by providing Segments 64 that have ‘complimentary abutting surfaces. More specifically, the Iat- ‘eral sides of the segments ure cut at aon-orthogonal com- plimentary angles oe curves. This allows positioning 9 Segment 64 onto the peripheral wall 22 of the eylindrcally shaped receptacle 20 by abutting a fist end ofa segment 64 with the opposite end ofthe adjacent sepment, and then by pivoting the segment in place with the already positioned ‘end thereol as 8 iver. [0049] With reference now 10 FIGS. TA-7B, an external rotor 70 for an electric machine according to 8 fifth ise trative embodiment will now be described. Since the rotor 70 is similar to the rotor 12, only the dillerences thercbe- ‘ween will be deseribed herein in more detail for concsion purposes 10080] The permanent mapnet-receiving postions of the segments 72 are in the form of generally rectangular cuts 74 ‘opened on each lateral side 76 ofthe segments 72 defining ‘magnet-receiving grooves therein, With this configuration, 2 Permanent magnet 32 is inserted in such a groove from the side. This has been found as requiring less adhesive grating after mounting the magnet 32 inthe groove, However, as can be seen in FIG. 78, the lamination segments 72 cannot be inte radially. Lamination segments 72 ate assembled by ing (sce arrow 77) and then pushing thereon (see arrows 78). Its to be noted thatthe caps 46 are integral with the segments 72 and that the gap betwoen to adjacent magnets 32 is increased. [0051] FIGS. 8A-88 show a sixth embodiment of an ‘external rotor 80 for an electric machine, The exteral rotor ‘80s very similar othe rotor 70 with, as dilfrences, thatthe Jamination segments 82 are shorter, leaving a gap 84 ther- ‘ebotweon facilitating their mounting to the receptacle 20 roma radial direction (see arrows 86), However the greater _2ap 84 isto the detriment tothe case of positioning. To cope ‘with this additional challenge, eicular holes 88 are provided ‘a same position inal lamination segments 82, which can used to align all stacked segment 82. The holes 82 can be used as visual guides orto receive pins (not shown) to force the alignment of the segments 82 When they are abutted 10 the peripheral wall 22 10052] An extemal rolor 90 according 10 @ seventh ‘embodiment is shown in FIGS. 94.918. Compared to the nbowiment shown in FIGS, 1, 2, 34.38, the peamaneat ‘magnets 32 on facing sides of two adjacent segments 92 are Sectred in respective magnet-receiving portions 94 30 that the permanent magnets ate in contact. \ cap 96 is secied ‘ont the pair of contacting adjacent magnets 92 as described hereinabove. The cap 96 inchides to lateral shoulders 98 that are shiped and positioned so a8 to force the two facing ‘magnets 32 into contact and prevent their displacement the magnetreceiving portions 94. Similarly to the Feb. 9, 2017 embodiment shovsa in FIGS. 8A:8B, the sega holes 99 for alignment, The holes 99 are ov shape ofthe lamination segments 92 allows their mounting to the peripheral wall 22 from the radial direction (see arrows 97). [0053] An external rotor 100 according 10 an eighth embodiment, which is shown in FIGS. 104-108, dilles {rom the firs embodiment by including lamination sepments 102 whose central protnsion ID includes two ( ips 106, cach extending within a respective magnet-eceiving portion 107. The lips 106 are contacted by the caps 109. As illustrated by the arrows 108, the lamination segments are positioned radially [0054] The ninth ittstative embodiment of an extemal votor 110 shown in FIGS. ILA-HB is similar to the first, embodiment, and only the differences therebetween will be ‘eseribed herein in more detail for concision purposes [08S] As a firs difference, each lamination segment 112 includes a bulge 114 that cooperates with a complementary groove 116 ia the peripheral Wall 118 ofthe receptacle o Hix the position of the seuments 112 relative to the peripheral all 118 and to helps transfer the torque tothe rotor. [0086] The mognet-receiving portions 120 are defined by ‘to pairs of shoulders 122 in the lamination sogments 112 fon respective lateral side thereof. [087] The caps 124 are so configured as to be soapped to adjaceat lamination segments over consecutive permanent ‘magnets 32, Fortis purpose, the caps 124 include tongues 126 on each lateral side thereof that cooperate with corre- sponding notches 128 provided om the segments 112 between the portions 120 andthe central protrusion 129, OF course, the notches 128 define grooves within a stack of Ssogments 112. No adhesive is used to secure the caps 124 10 the segments 112, [0088] An extemal color 130 for an electric. machine according to a tenth illustrative embodiment will now be ‘described with reference to FIGS. 12A-12B, Since the rotor 130s similar to the rotor 10, only the differences therebe- tween will be deseribed here in more detail for concison prpeses [0059] In addition to the congue and groove arrangements shown in FIGS. 1LA-I1B, the extemal rotor 130 includes biasing members in the form of pre-loaded springs 132 that positioned in secondary notehes 134 provided in the ‘main notches 129. The tongues 136, which are similar to the Tongues 126, are arcuate, thereby defining spring-receving recesses therein that comte into contact with the springs 132 ‘when the caps 138 are mounted tthe stack of segments 140. [0060] Finally, an extemal rotor 40 oran electric machine According 4 an eleventh istrative embodiment will now be deseribed with refereace to FIG. 13. Since the rotor 140 is similar tothe various rotors described above, only the iferences therebetween will he deseribed herein in more etal for coneision purposes. 0061} ‘The main difference between the rotor 140 andthe sahove-deseribed rotons relates tothe laminations 142 tat are circular and fits inthe eylindically shaped receptacle 4 Glue (not shown) may be used fo secure the stack of Jaminations 142 in the receptacle 144 10062} ‘The stack of laminations 142 include longitudinal apertures 146 configures and sized to receive permanent ‘magnets 148 therein. [0063] Grooves 150 are provided inthe laminations 142 allow room for excess adhesiveUS 2017/0040856 AI 10068} One skilled inthe art will understand that other ‘configurations of an inserted permanent magnet ror for a ‘external rotor elecric machine using some of the various Tealures of the above-described illustrative embodiments ‘can bo designed, [0065] One skilled in the art will also understand that ‘while the segments forming the magnet-receiving assembly have been described hereinabove as being mae of a stack ‘of faminations, these segments could be made of blocks of ‘compressed magnetic powders that have suitable magnetic properties. Or course, other soft maynetie materials (SMC) ‘could be used to form the magnet receiving assembly [0066] Tt isto be understood that the inserted permanent ‘magnet rotor for an extemal ror electric machine is not Timited in its applications tothe details of eonstrvetion and parts illustrated inthe accompanying drawings and ‘deseribed hereinabove. The inserted permanent magnet rotor for an external rotor clecsic mchine is capable of other ‘embodiments and of being practiced in various ways. It is ‘also to be undersood that the phiseology or terminology ted herein is for the purpose of description and not tation, Hence, although the inserted permanent magnet rotor for an extemal ror electric machine has been described hereinabove by way of iustrative embodiments thereof, i ‘can be modified, without departing from the spirit, scope and nature ofthe subject invention. 1. An extemal rotor for an electric machine comprising: cylindrically shaped receptacle including a peripheral ‘wall having an inner surface; 4 magnet receiving assembly including segments assembled tothe inner surface ofthe peripheral wall 30 fasta be adjcent and to deine a generally eylindicaly shaped stack; the segments being shapes so as to yield ‘mgnetreceiving portions in the cylindrically shaped stack; and permanent magnets secured to the magnet-reeiving por. tions of the magnet receiving assembly 2. The external rotor of elaim 1, wherein the segments orming the magnet eveiving assembly are made of sack of laminations 3. The external rotor of claim 2, wherein the stacks of laminations forming the segments are maintained together by partial and local deformation. 4. The external rotor of elaim 1, wherein the segments Jorming the magnet receiving assembly are defined by blocks of magnetic powder materia. ', The external olor of claim 1, wherein the eylindsially shape receptale includes an integral eap and hub eva ally therewith and configured to receive an inpuvoutput shat. 6, The external rotor of elim 1, wherein the segments forming the magnet-receiving assembly includes central protrusion and fvo lateral manet-receiving portions Feb. 9, 2017 7. The external rotor of claim 6, wherein each sepies further includes two rounded notches respectlly provided Detween the central protrusion and the lateral magnet- receiving portions '8. Tho external rotor of claim 6, wherein each lateral smagnetreceiving portion includes magnet positioning shouldce against which a magnet is abuttable, '9. The external rotor of claim 6, futher comprising caps ‘mounted to adjacent magnets provided on adjacent segments of the magnetreceiving assembly 10. The external oior of claim 8, wherein the caps are made of magnetic powders II. The extemal rotor of claim 10, wherein the caps include shoulders against which magnets are aburtble, 12, The external rotor of claim 9, wherein the caps and the segments include corresponding tongue and notehes allow ing the caps to be mousted to adjacent segments 13. The extemal rotor of claim 12, further comprising preloaded springs installable berwoen the corresponding fonaue and notches ta secure the caps to the adjacent segments, 14, The extemal rotor of claim 1, wherein each sepmes includes central protrusion and lateral sides provided wi generally rectangular grooves defining magnet-receving portions 15, The extemal rotor of claim 1, wherein cach segment is provided with central magnet-receiving potion and with ‘800 lateral protrsions 16. The external rotor of elaim 18, wherein the segments fre provided with complimentary abuting surfaces. 17. The extemal rotor of claim 1, wherein the eylinds- cally’ shaped stack is defined by more than one row of adjacently assembled segments, 18, The extemal rotor of elaim 17, wherein the conseeu- tive rows forming the cylindrically shaped stack are angu- Jarl shifted. 19, The extemal rotor of claim 1, wherein the eylinds- cally shaped receptacle js mace of « material selected from the group consisting of plastics, aluminum, non-magnet cally susceptible allows and fiber eeinforeed pastes, 20, An extemal rotor for an electric machine comprising 4 cylindrically shaped receptacle including a peripheral ‘wall having an inner surface; ‘4 magnet receiving assembly including circular lamina= lions assembled to the inner surface of the peripheral ‘wall so a5 to define @ generally cylindrically shaped stock; the laminations being so shaped as to yield Imgnetsecving potions thee shed ppenmuanent magnets secured to the magnet-receiving por: tions of the magnet receiving assembly.