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1. 发明授权

US07031095B2 Servo controller method and apparatus for high tracks per inch hard disk drives using a delay accomodating state estimator 失效
公开(公告)号：US07031095B2
公开(公告)日：2006-04-18
申请号：US10903720
申请日：2004-07-29
申请人： Young-Hoon Kim , Sang Hoon Chu , Seong-Woo Kang , Dong-Ho Oh , Yun-Sik Han , Tae Yeon Hwang
发明人： Young-Hoon Kim , Sang Hoon Chu , Seong-Woo Kang , Dong-Ho Oh , Yun-Sik Han , Tae Yeon Hwang
IPC分类号： G11B5/596
CPC分类号： G11B5/5547 , G11B5/596
摘要： The invention applies to servo controllers for at least the voice coil motor of a hard disk drive. Today, many control algorithms require 80 to 90 percent of the sampling period to complete their calculation of the next control, making computation time delay no longer negligible. The invention accommodates the transport delay, such as computation time delay, into the state estimator and into the whole control system. Experimental results using a commercial hard drive, as well as simulation results, show that the invention's method effectively improves the hard disk drive control system stability by increasing the phase margin and gain margin. The invention includes the method of operating the servo-controller, as well as the apparatus implementing that method. The invention also includes hard disk drives containing servo-controllers implementing the method, and program systems residing in accessibly coupled memory to a computer within the servo controller implementing the method.

2. 发明授权

US07420764B2 Servo controller method and apparatus for high tracks per inch hard disk drives using a delay accomodating state estimator 失效
标题翻译：使用延迟适应状态估计器的每英寸硬盘驱动器的高轨道伺服控制器方法和装置
公开(公告)号：US07420764B2
公开(公告)日：2008-09-02
申请号：US11397254
申请日：2006-04-03
申请人： Young-Hoon Kim , Sang Hoon Chu , Seong-Woo Kang , Dong-Ho Oh , Yun-Sik Han , Tae Yeon Hwang
发明人： Young-Hoon Kim , Sang Hoon Chu , Seong-Woo Kang , Dong-Ho Oh , Yun-Sik Han , Tae Yeon Hwang
IPC分类号： G11B5/596
CPC分类号： G11B5/5547 , G11B5/596
摘要： The invention applies to servo controllers for at least the voice coil motor of a hard disk drive. Today, many control algorithms require 80 to 90 percent of the sampling period to complete their calculation of the next control, making computation time delay no longer negligible. The invention accommodates the transport delay, such as computation time delay, into the state estimator and into the whole control system. Experimental results using a commercial hard drive, as well as simulation results, show that the invention's method effectively improves the hard disk drive control system stability by increasing the phase margin and gain margin. The invention includes the method of operating the servo-controller, as well as the apparatus implementing that method. The invention also includes hard disk drives containing servo-controllers implementing the method, and program systems residing in accessibly coupled memory to a computer within the servo controller implementing the method.
摘要翻译：本发明适用于至少用于硬盘驱动器的音圈电机的伺服控制器。今天，许多控制算法需要80％到90％的采样周期来完成下一个控制的计算，使计算时间延迟不再可忽略。本发明将诸如计算时间延迟的传输延迟适应到状态估计器中并进入整个控制系统。使用商业硬盘驱动器的实验结果以及仿真结果表明，本发明的方法通过增加相位裕度和增益裕度来有效提高硬盘驱动器控制系统的稳定性。本发明包括操作伺服控制器的方法以及实现该方法的装置。本发明还包括实现该方法的包含伺服控制器的硬盘驱动器，以及驻留在可访问耦合存储器中的程序系统，其中所述计算机实现该方法的伺服控制器内的计算机。

3. 发明申请

US20050007702A1 Method and apparatus reducing off track head motion due to disk vibration in a hard disk drive through the head gimbal assembly 失效
标题翻译：方法和装置减少由于硬盘驱动器中的磁头振动通过头部万向节组件引起的轨道头运动
公开(公告)号：US20050007702A1
公开(公告)日：2005-01-13
申请号：US10619163
申请日：2003-07-10
申请人： Dong-Ho Oh , Seong-Woo Kang , Yun-Sik Han , Young-Hoon Kim , Myeong-Eop Kim , Tae-Yeon Hwang , Jae-Won Kim
发明人： Dong-Ho Oh , Seong-Woo Kang , Yun-Sik Han , Young-Hoon Kim , Myeong-Eop Kim , Tae-Yeon Hwang , Jae-Won Kim
IPC分类号： G11B21/02 , G11B5/55 , G11B5/48
CPC分类号： G11B5/5552 , G11B5/4873 , G11B5/6011
摘要： Improved head gimbal assemblies reducing TMR (Track Mis-Registration) in a hard disk drive are provided. These head gimbal assemblies are as mechanically simple as contemporary head gimbal assemblies, support parallel flying sliders over flat disk surfaces, and reduce TMR induced by disk vibration. They are easier to build, more reliable, and cost less to make, than other known approaches at comparable track densities and rotational rates. The improved head gimbal assemblies include three sets of mechanisms for moving the slider parallel the disk surface, when the disk surface is flat, and radially moving the slider toward the track, when the disk surface is bent. The first and third mechanisms as well as the second and third mechanisms can be used together in a head gimbal assembly. An improved and distinctive servo-controller scheme resulting in an overall improvement in PES performance, particularly when applied to hard disk drives employing the invention's TMR reduction mechanisms. The servo-controllers trade off gain in the disk vibration frequency range, in favor of, increased rejection of low frequency disturbances. This leads to the lowest PES statistics, when applied to hard disk drives with the TMR reduction mechanisms of the invention.
摘要翻译：提供了改进的头万向节组件，减少了硬盘驱动器中的TMR（跟踪错位）。这些头万向架组件与当代头万向架组件一样机械简单，在平盘表面上支撑平行的飞行滑块，并减少由磁盘振动引起的TMR。与其他已知方法相比，其轨迹密度和转速可比较容易构建，更可靠，成本更低。改进的头万向节组件包括三组机构，用于当盘表面平坦时平行于盘表面移动滑块，并且当盘表面弯曲时使滑块朝向轨道径向移动。第一和第三机构以及第二和第三机构可以一起用在头部万向架组件中。改进和独特的伺服控制器方案导致PES性能的总体改进，特别是当应用于采用本发明的TMR减小机构的硬盘驱动器时。伺服控制器在磁盘振动频率范围内取消增益，有利于提高低频干扰的抑制。当应用于具有本发明的TMR减少机制的硬盘驱动器时，这导致最低的PES统计。

4. 发明授权

US06920018B2 Method and apparatus reducing off-track head motion due to disk vibration in a disk drive through flexure mounting and/or non-symmetric hinging within the head gimbal assembly 失效
标题翻译：方法和装置通过磁头万向架组件内的弯曲安装和/或非对称铰链减少磁盘驱动器中的磁盘振动造成的偏离磁头运动
公开(公告)号：US06920018B2
公开(公告)日：2005-07-19
申请号：US10618524
申请日：2003-07-10
申请人： Dong-Ho Oh , Seong-Woo Kang , Yun-Sik Han , Young-Hoon Kim , Myeong-Eop Kim , Tae-Yeon Hwang , Jae-Won Kim
发明人： Dong-Ho Oh , Seong-Woo Kang , Yun-Sik Han , Young-Hoon Kim , Myeong-Eop Kim , Tae-Yeon Hwang , Jae-Won Kim
IPC分类号： G11B5/56 , G11B5/596 , G11B5/60
CPC分类号： G11B5/59627
摘要： Improved head gimbal assemblies reducing TMR (Track Mis-Registration) in a hard disk drive are provided. These head gimbal assemblies are as mechanically simple as contemporary head gimbal assemblies, support parallel flying sliders over flat disk surfaces, and reduce TMR' induced by disk vibration. They are easier to build, more reliable, and cost less to make, than other known approaches at comparable track densities and rotational rates. The improved head gimbal assemblies include three sets of mechanisms moving the slider parallel the disk surface, when the disk surface is flat, and radially moving the slider toward the track, when the disk surface is bent. The first and third mechanisms as well as the second and third mechanisms can be used together in a head gimbal assembly.An improved and distinctive servo-controller scheme resulting in an overall improvement in PES performance, particularly when applied to hard disk drives employing the invention's TMR reduction mechanisms. The servo-controllers trade off gain in the disk vibration frequency range, in favor of, increased rejection of low frequency disturbances. This leads to the lowest PES statistics, when applied to hard disk drives with the TMR reduction mechanisms of the invention.
摘要翻译：提供了改进的头万向节组件，减少了硬盘驱动器中的TMR（跟踪错位）。这些头万向架组件与当代头万向架组件一样机械简单，在平盘表面上支撑平行的滑动滑块，并减少由磁盘振动引起的TMR。与其他已知方法相比，其轨迹密度和转速可比较容易构建，更可靠，成本更低。改进的头万向节组件包括三组机构，当盘表面平坦时，滑块平行于盘表面移动，并且当盘表面弯曲时，将滑块径向移动到轨道。第一和第三机构以及第二和第三机构可以一起用在头部万向架组件中。改进和独特的伺服控制器方案导致PES性能的总体改进，特别是当应用于采用本发明的TMR减小机构的硬盘驱动器时。伺服控制器在磁盘振动频率范围内取消增益，有利于提高低频干扰的抑制。当应用于具有本发明的TMR减少机制的硬盘驱动器时，这导致最低的PES统计。

5. 发明授权

US07595964B2 Method for reducing off track head motion due to disk vibration in a hard disk drive through the head gimbal assembly 失效
标题翻译：一种用于通过磁头万向节组件减少由硬盘驱动器中的磁盘振动引起的轨道头运动的方法
公开(公告)号：US07595964B2
公开(公告)日：2009-09-29
申请号：US11599801
申请日：2006-11-14
申请人： Dong-Ho Oh , Seong-Woo Kang , Yun-Sik Han , Young-Hoon Kim , Myeong-Eop Kim , Tae-Yeon Hwang , Jae-Won Kim
发明人： Dong-Ho Oh , Seong-Woo Kang , Yun-Sik Han , Young-Hoon Kim , Myeong-Eop Kim , Tae-Yeon Hwang , Jae-Won Kim
IPC分类号： G11B5/60
CPC分类号： G11B5/5552 , G11B5/4873 , G11B5/6011
摘要： Improved head gimbal assemblies reducing TMR (Track Mis-Registration) in a hard disk drive are provided. These head gimbal assemblies are as mechanically simple as contemporary head gimbal assemblies, support parallel flying sliders over flat disk surfaces, and reduce TMR induced by disk vibration. They are easier to build, more reliable, and cost less to make, than other known approaches at comparable track densities and rotational rates. The improved head gimbal assemblies include three sets of mechanisms for moving the slider parallel the disk surface, when the disk surface is flat, and radially moving the slider toward the track, when the disk surface is bent. The first and third mechanisms as well as the second and third mechanisms can be used together in a head gimbal assembly. An improved and distinctive servo-controller scheme resulting in an overall improvement in PES performance, particularly when applied to hard disk drives employing the invention's TMR reduction mechanisms. The servo-controllers trade off gain in the disk vibration frequency range, in favor of, increased rejection of low frequency disturbances. This leads to the lowest PES statistics, when applied to hard disk drives with the TMR reduction mechanisms of the invention.
摘要翻译：提供了改进的头万向节组件，减少了硬盘驱动器中的TMR（跟踪错位）。这些头万向架组件与当代头万向架组件一样机械简单，在平盘表面上支撑平行的飞行滑块，并减少由磁盘振动引起的TMR。与其他已知方法相比，其轨迹密度和转速可比较容易构建，更可靠，成本更低。改进的头万向节组件包括三组机构，用于当盘表面平坦时平行于盘表面移动滑块，并且当盘表面弯曲时使滑块朝向轨道径向移动。第一和第三机构以及第二和第三机构可以一起用在头部万向架组件中。改进和独特的伺服控制器方案导致PES性能的总体改进，特别是当应用于采用本发明的TMR减小机构的硬盘驱动器时。伺服控制器在磁盘振动频率范围内取消增益，有利于提高低频干扰的抑制。当应用于具有本发明的TMR减少机制的硬盘驱动器时，这导致最低的PES统计。

6. 发明申请

US20050207055A1 Method and apparatus reducing off track head motion due to disk vibration in a hard disk drive through the head gimbal assembly 失效
标题翻译：方法和装置减少由于硬盘驱动器中的磁头振动通过头部万向节组件引起的轨道头运动
公开(公告)号：US20050207055A1
公开(公告)日：2005-09-22
申请号：US11126462
申请日：2005-05-10
申请人： Dong-Ho Oh , Seong-Woo Kang , Yun-Sik Han , Young-Hoon Kim , Myeong-Eop Kim , Tae-Yeon Hwang , Jae-Won Kim
发明人： Dong-Ho Oh , Seong-Woo Kang , Yun-Sik Han , Young-Hoon Kim , Myeong-Eop Kim , Tae-Yeon Hwang , Jae-Won Kim
IPC分类号： G11B21/10 , G11B5/48 , G11B5/55 , G11B5/596 , G11B21/02
CPC分类号： G11B5/4833 , G11B5/4826 , G11B5/5552 , G11B5/596
摘要： An improved and distinctive servo-controller scheme resulting in an overall improvement in PES performance, particularly when applied to hard disk drives employing the invention's TMR reduction mechanisms. The servo-controllers trade off gain in the disk vibration frequency range, in favor of, increased rejection of low frequency disturbances. This leads to the lowest PES statistics, when applied to hard disk drives with the TMR reduction mechanisms of the invention. Improved head gimbal assemblies reducing TMR (Track Mis-Registration) in a hard disk drive are provided. These head gimbal assemblies are as mechanically simple as contemporary head gimbal assemblies, support parallel flying sliders over flat disk surfaces, and reduce TMR induced by disk vibration. They are easier to build, more reliable, and cost less to make, than other known approaches at comparable track densities and rotational rates. The improved head gimbal assemblies include three sets of mechanisms moving the slider parallel the disk surface, when the disk surface is flat, and radially moving the slider toward the track, when the disk surface is bent. The first and third mechanisms as well as the second and third mechanisms can be used together in a head gimbal assembly.
摘要翻译：改进和独特的伺服控制器方案导致PES性能的总体改进，特别是当应用于采用本发明的TMR减小机构的硬盘驱动器时。伺服控制器在磁盘振动频率范围内取消增益，有利于提高低频干扰的抑制。当应用于具有本发明的TMR减少机制的硬盘驱动器时，这导致最低的PES统计。提供了改进的头万向节组件，减少了硬盘驱动器中的TMR（跟踪错位）。这些头万向架组件与当代头万向架组件一样机械简单，在平盘表面上支撑平行的飞行滑块，并减少由磁盘振动引起的TMR。与其他已知方法相比，其轨迹密度和转速可比较容易构建，更可靠，成本更低。改进的头万向节组件包括三组机构，当盘表面平坦时，滑块平行于盘表面移动，并且当盘表面弯曲时，将滑块径向移动到轨道。第一和第三机构以及第二和第三机构可以一起用在头部万向架组件中。

7. 发明授权

US07502191B2 Method and apparatus reducing off track head motion due to disk vibration in a hard disk drive through the head gimbal assembly 失效
标题翻译：方法和装置减少由于硬盘驱动器中的磁头振动通过头部万向节组件引起的轨道头运动
公开(公告)号：US07502191B2
公开(公告)日：2009-03-10
申请号：US11126462
申请日：2005-05-10
申请人： Dong-Ho Oh , Seong-Woo Kang , Yun-Sik Han , Young-Hoon Kim , Myeong-Eop Kim , Tae-Yeon Hwang , Jae-Won Kim
发明人： Dong-Ho Oh , Seong-Woo Kang , Yun-Sik Han , Young-Hoon Kim , Myeong-Eop Kim , Tae-Yeon Hwang , Jae-Won Kim
IPC分类号： G11B21/02 , G11B21/16
CPC分类号： G11B5/4833 , G11B5/4826 , G11B5/5552 , G11B5/596
摘要： An improved and distinctive servo-controller scheme resulting in an overall improvement in PES performance, particularly when applied to hard disk drives employing the invention's TMR reduction mechanisms. The servo-controllers trade off gain in the disk vibration frequency range, in favor of, increased rejection of low frequency disturbances. This leads to the lowest PES statistics, when applied to hard disk drives with the TMR reduction mechanisms of the invention. Improved head gimbal assemblies reducing TMR (Track Mis-Registration) in a hard disk drive are provided. These head gimbal assemblies are as mechanically simple as contemporary head gimbal assemblies, support parallel flying sliders over flat disk surfaces, and reduce TMR induced by disk vibration. They are easier to build, more reliable, and cost less to make, than other known approaches at comparable track densities and rotational rates. The improved head gimbal assemblies include three sets of mechanisms moving the slider parallel the disk surface, when the disk surface is flat, and radially moving the slider toward the track, when the disk surface is bent. The first and third mechanisms as well as the second and third mechanisms can be used together in a head gimbal assembly.
摘要翻译：改进和独特的伺服控制器方案导致PES性能的总体改进，特别是当应用于采用本发明的TMR减小机构的硬盘驱动器时。伺服控制器在磁盘振动频率范围内取消增益，有利于提高低频干扰的抑制。当应用于具有本发明的TMR减少机制的硬盘驱动器时，这导致最低的PES统计。提供了改进的头万向节组件，减少了硬盘驱动器中的TMR（跟踪错位）。这些头万向架组件与当代头万向架组件一样机械简单，在平盘表面上支撑平行的飞行滑块，并减少由磁盘振动引起的TMR。与其他已知方法相比，其轨迹密度和转速可比较容易构建，更可靠，成本更低。改进的头万向节组件包括三组机构，当盘表面平坦时，滑块平行于盘表面移动，并且当盘表面弯曲时，将滑块径向移动到轨道。第一和第三机构以及第二和第三机构可以一起用在头部万向架组件中。

8. 发明申请

US20070064335A1 Method for reducing off track head motion due to disk vibration in a hard disk drive through the head gimbal assembly 失效
标题翻译：一种用于通过磁头万向节组件减少由硬盘驱动器中的磁盘振动引起的轨道头运动的方法
公开(公告)号：US20070064335A1
公开(公告)日：2007-03-22
申请号：US11599801
申请日：2006-11-14
申请人： Dong-Ho Oh , Seong-Woo Kang , Yun-Sik Han , Young-Hoon Kim , Myeong-Eop Kim , Tae-Yeon Hwang , Jae-Won Kim
发明人： Dong-Ho Oh , Seong-Woo Kang , Yun-Sik Han , Young-Hoon Kim , Myeong-Eop Kim , Tae-Yeon Hwang , Jae-Won Kim
IPC分类号： G11B5/596
CPC分类号： G11B5/5552 , G11B5/4873 , G11B5/6011
摘要： Improved head gimbal assemblies reducing TMR (Track Mis-Registration) in a hard disk drive are provided. These head gimbal assemblies are as mechanically simple as contemporary head gimbal assemblies, support parallel flying sliders over flat disk surfaces, and reduce TMR induced by disk vibration. They are easier to build, more reliable, and cost less to make, than other known approaches at comparable track densities and rotational rates. The improved head gimbal assemblies include three sets of mechanisms for moving the slider parallel the disk surface, when the disk surface is flat, and radially moving the slider toward the track, when the disk surface is bent. The first and third mechanisms as well as the second and third mechanisms can be used together in a head gimbal assembly. An improved and distinctive servo-controller scheme resulting in an overall improvement in PES performance, particularly when applied to hard disk drives employing the invention's TMR reduction mechanisms. The servo-controllers trade off gain in the disk vibration frequency range, in favor of, increased rejection of low frequency disturbances. This leads to the lowest PES statistics, when applied to hard disk drives with the TMR reduction mechanisms of the invention.
摘要翻译：提供了改进的头万向节组件，减少了硬盘驱动器中的TMR（跟踪错位）。这些头万向架组件与当代头万向架组件一样机械简单，在平盘表面上支撑平行的飞行滑块，并减少由磁盘振动引起的TMR。与其他已知方法相比，其轨迹密度和转速可比较容易构建，更可靠，成本更低。改进的头万向节组件包括三组机构，用于当盘表面平坦时平行于盘表面移动滑块，并且当盘表面弯曲时使滑块朝向轨道径向移动。第一和第三机构以及第二和第三机构可以一起用在头部万向架组件中。改进和独特的伺服控制器方案导致PES性能的总体改进，特别是当应用于采用本发明的TMR减小机构的硬盘驱动器时。伺服控制器在磁盘振动频率范围内取消增益，有利于提高低频干扰的抑制。当应用于具有本发明的TMR减少机制的硬盘驱动器时，这导致最低的PES统计。

9. 发明授权

US07136260B2 Method and apparatus reducing off track head motion due to disk vibration in a hard disk drive through the head gimbal assembly 失效
标题翻译：方法和装置减少由于硬盘驱动器中的磁头振动通过头部万向节组件引起的轨道头运动
公开(公告)号：US07136260B2
公开(公告)日：2006-11-14
申请号：US10619163
申请日：2003-07-10
申请人： Dong-Ho Oh , Seong-Woo Kang , Yun-Sik Han , Young-Hoon Kim , Myeong-Eop Kim , Tae-Yeon Hwang , Jae-Won Kim
发明人： Dong-Ho Oh , Seong-Woo Kang , Yun-Sik Han , Young-Hoon Kim , Myeong-Eop Kim , Tae-Yeon Hwang , Jae-Won Kim
IPC分类号： G11B5/48
CPC分类号： G11B5/5552 , G11B5/4873 , G11B5/6011
摘要： Improved head gimbal assemblies reducing TMR (Track Mis-Registration) in a hard disk drive are provided. These head gimbal assemblies are as mechanically simple as contemporary head gimbal assemblies, support parallel flying sliders over flat disk surfaces, and reduce TMR induced by disk vibration. They are easier to build, more reliable, and cost less to make, than other known approaches at comparable track densities and rotational rates. The improved head gimbal assemblies include three sets of mechanisms for moving the slider parallel the disk surface, when the disk surface is flat, and radially moving the slider toward the track, when the disk surface is bent. The first and third mechanisms as well as the second and third mechanisms can be used together in a head gimbal assembly. An improved and distinctive servo-controller scheme resulting in an overall improvement in PES performance, particularly when applied to hard disk drives employing the invention's TMR reduction mechanisms. The servo-controllers trade off gain in the disk vibration frequency range, in favor of, increased rejection of low frequency disturbances. This leads to the lowest PES statistics, when applied to hard disk drives with the TMR reduction mechanisms of the invention.
摘要翻译：提供了改进的头万向节组件，减少了硬盘驱动器中的TMR（跟踪错位）。这些头万向架组件与当代头万向架组件一样机械简单，在平盘表面上支撑平行的飞行滑块，并减少由磁盘振动引起的TMR。与其他已知方法相比，其轨迹密度和转速可比较容易构建，更可靠，成本更低。改进的头万向节组件包括三组机构，用于当盘表面平坦时平行于盘表面移动滑块，并且当盘表面弯曲时使滑块朝向轨道径向移动。第一和第三机构以及第二和第三机构可以一起用在头部万向架组件中。改进和独特的伺服控制器方案导致PES性能的总体改进，特别是当应用于采用本发明的TMR减小机构的硬盘驱动器时。伺服控制器在磁盘振动频率范围内取消增益，有利于提高低频干扰的抑制。当应用于具有本发明的TMR减少机制的硬盘驱动器时，这导致最低的PES统计。

10. 发明授权

US06958879B2 Method and apparatus reducing off track head motion due to disk vibration in a hard disk drive using configuration of the disk drive servo controller 失效
公开(公告)号：US06958879B2
公开(公告)日：2005-10-25
申请号：US10618141
申请日：2003-07-10
申请人： Dong-Ho Oh , Seong-Woo Kang , Yun-Sik Han , Young-Hoon Kim , Myeong-Eop Kim , Tae-Yeon Hwang , Jae-Won Kim
发明人： Dong-Ho Oh , Seong-Woo Kang , Yun-Sik Han , Young-Hoon Kim , Myeong-Eop Kim , Tae-Yeon Hwang , Jae-Won Kim
IPC分类号： G11B21/10 , G11B5/48 , G11B5/55 , G11B5/596 , G11B21/20
CPC分类号： G11B5/4833 , G11B5/4826 , G11B5/5552 , G11B5/596
摘要： An improved and distinctive servo-controller scheme resulting in an overall improvement in PES performance, particularly when applied to hard disk drives employing the invention's TMR reduction mechanisms. The servo-controllers trade off gain in the disk vibration frequency range, in favor of, increased rejection of low frequency disturbances. This leads to the lowest PES statistics, when applied to hard disk drives with the TMR reduction mechanisms of the invention.Improved head gimbal assemblies reducing TMR (Track Mis-Registration) in a hard disk drive are provided. These head gimbal assemblies are as mechanically simple as contemporary head gimbal assemblies, support parallel flying sliders over flat disk surfaces, and reduce TMR induced by disk vibration. They are easier to build, more reliable, and cost less to make, than other known approaches at comparable track densities and rotational rates. The improved head gimbal assemblies include three sets of mechanisms moving the slider parallel the disk surface, when the disk surface is flat, and radially moving the slider toward the track, when the disk surface is bent. The first and third mechanisms as well as the second and third mechanisms can be used together in a head gimbal assembly.

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