Beruflich Dokumente
Kultur Dokumente
for
Robotics
Munindar Kumar
Sunil Choudhary
Narendra K. Meena
Direction (H-Bridge)
Torque (Kgcm)
Typical DC motors are rated from about 6V-12V. The larger ones are
often 24V or more.
When buying a motor, there are two current ratings you should pay
attention to. The first isoperating current (average current, typical
torque). The other is thestall current (max current, limiting torque).
Speed (PWM)
try to slow down a motor by reducing its voltage with a variable resistor or
other ways will not work well, because it will not only reduce the motor's
speed, it will also reduce a motor's strength, while also consuming a lot of
electricity as large amounts of heat are generated by the resistor.
Microcontroller
Motor
Driver
Motor
Contains H-Bridge
DC Motors
(mostly used in robotics)
Brushed DC Motors
simply DC motor
uses brushes to detect the change
in orientation so that it can flip the
current to continue the rotors
rotation.
different sizes and at different
speeds.
generally useless in robots as they
produce the slightest torque.
have two wires; ground and power.
Geared DC Motor
DC motors provide good speeds
without enough torque.To
Overcome this DC motors are
often coupled with gears which
provide greater torque, but
reducing speed.
Normally all our robots would
require a geared DC motor to pull
the weight of our robot and any
additional components placed.
the rotations per minute of Gear1
is lesser than the motor. Gear2
has even less number of
rotations per minute.
each gear increases the torque of
overall setup.
Brushless DC Motor
(BLDC)
In a BLDC, the rotor is made of
permanent magnet and the
stator is made of electromagnet.
To detect a change in orientation,
brushless motors generally use
Hall Effect sensors to detect the
rotors magnetic field and
consecutively its orientation.
Brushless motors are very useful
in robots as they are more
capable; they provide enough
torque, and greater speeds than
brushed motors.
expensive due to their design
complexity and need a controller
to control their speed and
rotation.
Stepper Motor
brushless motors which divides the
rotors rotation into discrete
number of steps
breaks it into steps per revolution
and jumps each step for a certain
pulse.
Unlike a servo motor, stepper motor
does not require any complex
position feedback mechanism
stepper motors are similar to
brushed DC motors with less
torque.
Based on the arrangement of
windings inside a stepper motor, it
can be classified as Unipolar or
Bipolar step motor.
Four wires
Linear DC Motors
AC Motors
There are several different types of AC-motors, but their use is limited to high power stationary
industrial robots. They are harder to use than DC-motors.
won't use AC motors unless your robot is stationary
Modifying the AC frequency can alter speed and torque
AC Servomotor, AC Stepper Motor
BIBLIOGRAPHY
www.societyofrobots.com
http://www.robotplatform.com/knowledge/actuators/dc_motors.html
EE201: ElectroMechanics
Seminar May 30,2015
Instructed By: Dr.Bhakti Joshi
Electric Motors for Robotics
Munindar Kumar
B13216
Narendra K. Meena
B13217
Sunil Choudhary
B13233