Documente Academic
Documente Profesional
Documente Cultură
Roselito E. Tolentino
Actuators
• Actuators are used in order to produce mechanical
movement in robots.
In this lecture we will present:
• Electric Motors
• DC Motor
• Servo Motor
• Stepper Motor
• Linear Motor
• Pneumatics
• Hydraulics
• Other robotic actuators
Electric Motor
• Mainly rotating but also linear ones are available
Special Purpose
DC Motors AC Motors
Motors
Permanent Magnet
DC (PMDC) Stepper motor
Induction Brushless DC
Series Motor Motor motor
Hysteresis motor
Shunt Motor
Synchronous Reluctance motor
Compounded Motor
Motor Universal motor
Separately Excited
motor
DC Electric Motors
• Electric Motors or Motors convert electrical energy to
mechanical motion
• Motors are powered by a source of electricity – either AC or
DC.
• DC Electric Motors use Direct Current (DC) sources of
electricity:
◦ Batteries
◦ DC Power supply
• Principle of How Motors Work:
• Electrical current flowing in a loop of wire will produce a magnetic
field across the loop.
• When this loop is surrounded by the field of another magnet, the
loop will turn, producing a force (called torque) that results in
mechanical motion.
DC-Motors
• simple, cheap
• easy to control
• 1W - 1kW
• can be overloaded
• brushes wear
• limited overloading
on high speeds
DC-motor control
• To control the direction of rotation - H-bridge
• To control the speed of rotation - PWM
• Torque is increased through gears
Operation with S1-S4
corresponding to the diagram
Power Amplifier for DC Motor
Control
Power Amplifier for DC Motor
Control
Controlling DC Motor Speed
• We do not change the supplied voltage
• When the duty cycle is reduced to one quarter of the total time, the
effective voltage is about one quarter of the total voltage.
•
Arduino Codes:
digitalWrite(7, LOW);
digitalWrite(8, HIGH);
analogWrite(6, Speed);
Step 1a 2a 1b 2b
1st 1 0 0 0
2nd 0 1 0 0
3rd 0 0 1 0
4th 0 0 0 1
Wave Drive Stepping Sequences
Step 1a 2a 1b 2b
1st 1 0 0 0
2nd 0 1 0 0
3rd 0 0 1 0
4th 0 0 0 1
High Torque Drive Stepping
Sequences
Step 1a 2a 1b 2b
1st 1 0 0 1
2nd 1 1 0 0
3rd 0 1 1 0
4th 0 0 1 1
Half Step Drive Stepping
Sequences
Step 1a 2a 1b 2b
1st 1 0 0 1
2nd 1 0 0 0
3rd 1 1 0 0
4th 0 1 0 0
5th 0 1 1 0
6th 0 0 1 0
7th 0 0 1 1
8th 0 0 0 1
Controlling Stepper Motor Speed
• The speed of the stepper motor is proportional to
the speed of pulse signals (pulse frequency).
video
Example1:
• How many steps are needed to rotate a stepper
motor with 200 steps per revolution to 120
degrees?
Example1:
• How fast does a stepper motor (with step size of
0.72degree per steps) rotates in RPM if it will be
supplied with a 1Khz pulse?
Arduino Codes:
#include <Stepper.h>
Stepper myStepper(SPR, 8,9,10,11);
myStepper.setSpeed(Speed);
myStepper.step(steps);