Beruflich Dokumente
Kultur Dokumente
lecture 20
John Canny
10/30/03
Last time
Real-time programming
This time
Mechanics – Physics and Motors
Review of physics
Newton’s law for translation:
F=ma
F in Newtons, m in kg, a in m/s2.
Acceleration a = dv / dt
Kinetic energy E = ½ m v2
E in Joules, m in kg, v in m/s.
Physics of translation
Momentum p = m v and so F = dp / dt
Efficiency ??
DC Motors
DC motor types:
DC Brush motor
“DC” Brushless motor
Stepper motor
DC Brush Motors
A “commutator” brings current to the moving
element (the rotor).