BASIC COMPONENTS OF A ROBOT

1. LOCOMOTION/MECHANICAL SYSTEM
2. PROGRAMMING/CONTROL SYSTEM
3. SENSOR SYSTEM
4. ACTUATOR SYSTEM
5. POWER/ELECTRICAL SYSTEM
ACTUATOR SYSTEM
TYPES OF ACTUATORS

1. HYDRAULIC ACTUATOR
2. PNEUMATIC ACTUATOR
3. MECHANICAL ACTUATOR
4. ELECTRIC ACTUATOR
ELECTRIC ACTUATORS
COMMON ELECTRIC ACTUATORS

1. AC MOTORS
2. DC MOTORS
3. AC/DC SERVO MOTORS
4. STEPPER MOTORS
5. LINEAR MOTOR
AC MOTORS
 AC motors are mainly used for producing large power outputs at a fixed
speed.
 Typically these are 1420 – 2900 RPM.
 Rarely use in mobile robotics due to power requirement
VOLTAGE(Volts)
• Typically from 120-240V AC
• Higher voltages means more torque but also require more power

CURRENT (Amperes)
• Stall Current – The current a motor requires when powered but
held so that it does not rotate
• Operating Current – The current draw when a motor
experiences zero resistance torque
• Current Spikes – can be up to two times the stall, and can fry
control circuitry if unprotected
 POWER
• It is usually define as the rate of doing work
• Input power is the power needed to operate the motor usually in KW
• The rated power is the output power of the motor usually in HP

INPUT POWER STATOR ROTOR OUTPUT POWER

Stator Losses Rotor Losses Mechanical Losses

EFFICIENCY
• It is the ratio of the output power to the input power
• Usually this is in percent
• AC motors are more efficient than DC motors
• Typically most efficient at rated voltage and frequency
TORQUE
• Stall Torque – The torque a motor requires when powered but held so
that it does not rotate
• Operating Torque – The torque a motor can apply when experiencing
zero resistance torque
• Usually in N-m, lb-ft or oz-in

ROTATIONAL SPEED and FREQUENCY

• Motors run most efficient at the highest possible speeds
• The velocity is the base speed given in RPM at which the motor
develops rated horsepower at rated voltage and frequency
• The frequency is usually given in hertz ranges 50 – 60 hz
• The motor speed is directly proportional to the frequency

CONTROL METHOD
• Modifying frequency can alter speed and torque
DC MOTORS
• Typically DC motors are rated from 6 – 12 Vdc.
• High speed but lower torque.
• To control the speed simply vary the voltage.
AC/DC SERVOMOTOR
• A servomotor is a rotary actuator that allows for precise control of angular
position, velocity and acceleration.
• It consists of a suitable motor coupled to a sensor for position feedback.
• DC Servomotors is mostly used for light loads. They also called this the hobby
servos.
• AC Servomotors is mostly used in industrial application.
STEPPER MOTORS
• A stepper motor (or step motor) is a brushless DC electric motor that
divides a full rotation into a number of equal steps.
• To operate a stepper motor, one must activate these different coils in
particular patterns to generate motor rotation.
• Steppers are often used because each 'step,' separated by a set step
angle, can be counted and used for feedback control.
• External torque must never exceed the holding torque.
LINEAR MOTOR
• A linear motor is an electric motor that has had its stator and rotor "unrolled" so
that instead of producing a torque (rotation) it produces a linear force along its
length.
• Ratio of thrust to moving mass determines the load capacity of a linear motor.
Articulated Robot Arm
Cartesian Gantry Robot Arm
DESIGNING YOUR ACTUATOR

 CHOOSE THE RIGHT ACTUATOR

 SOLVE FOR THE TORQUE NEEDED
 SIZE UP YOUR MOTORS
Torque about joint two or motor two:
M2 = L2/2 * W2 + L3 * W3

Torque about joint one or motor one:

M1 = L1/2 * W1 + L1 * W4 + (L1 + L2/2) * W2 + (L1 + L3) * W3
SIZING UP THE MOTOR

HP = NT/ 5252
KW = 0.746XHP