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Elements
Manipulator Elements
o Manipulator
oActuators
o Sensors
o End Effectors
o Controller
o Software
o Power supply
Actuator
o An actuator is a type of motor for moving or controlling a
mechanismor system.
o It is operated by a source of energy.
o It converts energy into some useful mechanical work.
o There are three kinds of energy sources
1. Electric Energy
2. Pneumatic Energy
3. Hydraulic Energy
Electric Actuators
o Electric actuators are powered by electric energy.
o Mechanical output can be either rotational or linear
o Motors provide rotational motion
o Electromagnets and motor-gear assemblies provide linear
motion.
Electrical
Energy
Actuator
Mechanical
Work
Electric Actuator Types
DC Motors
o As the name suggests, a DC
motor uses DC power to
operate.
o Can run in both directions
o Controlling speed Is easy.
o Advantages
Cheap
Easy to control
Motors exist in a wide
power range (1W
100kW)
High torque at zero
speed.
Can achieve higher
speeds
DC Motors
o Disadvantages
Brushes wear.
Limited overloading on
higher speeds.
Higher maintenance.
Expensive compared to
AC motors
DC Motors Components
o Stator : Stator is a
stationary winding or a
permanent magnet.
o Permanent magnets are
found in low power
applications where as high
power applications uses
wound stators.
o Armature : Armature is a
rotational winding.
o The rotating shaft of the
motor is connected to the
armature
DC Motors Components
o Commutator : Rotational
electrical switch
o Windings of the armature
is connected to the
commutator.
o Brushes : Carbon/soft
metallic contacts which
completes the circuit
Types of DC motors
o Permanent Magnet DC Motors
o Wound Rotor DC Motors
Shunt DC Motors
Series DC Motors
Compound DC Motors
DC Motors Operation
A simple DC electric
motor. When the coil is
powered, a magnetic field
is generated around the
armature. The left side of
the armature is pushed
away from the left magnet
and drawn toward the
right, causing rotation.
The armature continues to
rotate due to its inertia.
When the armature
becomes horizontally
aligned, the commutator
reverses the direction of
current through the coil,
reversing the magnetic
field.
DC Motor Characteristics
o Torque of a motor is produced by the principle of Lorentz
Force.
o Lorentz force is the force exerted on a current carrying
conductor placed within an external magnetic field
o Force exerted on the conductor is given by
F = Bil
o Direction of the force can be found
using the Flemings Left Hand Rule.
o In a permanent magnet DC motor the torque is
proportional to the armature current. And back emf
(ElectroMotive Force)
DC Motor Characteristics
Governing Equations of DC motor
o Electrical torque
e
c
= KI
u
o Back EMF E
b
E
b
= K
m
o DC motor equivalent circuit
o DC motor characteristic equation
E
s
= E
b
+I
u
R
u
DC Motor Characteristics
H-bridge
o H-bridge is a current
amplifier.
o PWM controller
o Advantages
Easy to control
Higher efficiency
Small component
Can drive DC motors in
both directions
Can be driven with a
microcontroller
H-bridge Operation
o The direction of the motor can be changed without changing
the supply polarity
o PWM signal form the microcontroller is applied to the relevant
gates of the H-bridge
DC Motor Control
o PWM (Pulse Width Modulation)
Duration of the on time in a pulse is varied.
A:crogc Ioltogc I
A
= I
n
1
cn
1
cjclc
= I
n
D = duty cycle =
1
cn
1
cjclc
u 1
Voltage supplied to the motor can be changed by
changing the duty cycle of the pulse.
Microcontroller or a microprocessor is used to change the
duty cycle of the pulse
DC Motor Control
o In a permanent magnet
DC motor armature
resistance and field
strength is constant.
E
b
I
s
o Since E
b
= K
m
m
=
I
s
K