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Motor
Motor
Motor
• Variable Reluctance
o Does not have permanent magnet
o Low torque
Variable Reluctance STEPPER Motor
• Figure 4.2.1 shows the construction of
Variable Reluctance motor. The
cylindrical rotor is made of soft steel
and has four poles as shown in
Fig.4.2.1. It has four rotor teeth, 90⁰
apart and six stator poles, 60⁰ apart.
Electromagnetic field is produced by
activating the stator coils in sequence.
It attracts the metal rotor. When the
windings are energized in a
reoccurring sequence of 2, 3, 1, and so
on, the motor will rotate in a 30⁰ step
angle. In the non-energized condition,
there is no magnetic flux in the air gap,
as the stator is an electromagnet and
the rotor is a piece of soft iron; hence,
there is no detent torque. This type of
stepper motor is called a variable
reluctance stepper.
Permanent magnet (PM) stepper motor
Advantages
• The advantages include: no backlash, high compactness and light weight,
high gear ratios, reconfigurable ratios within a standard housing, good
resolution and excellent repeatability (linear representation) when
repositioning inertial loads, high torque capability, and coaxial input and
output shafts.
• High gear reduction ratios are possible in a small volume (a ratio from
30:1 up to 320:1 is possible in the same space in which planetary
gears typically only produce a 10:1 ratio).
• The strain wave gearing theory is based on elastic dynamics and utilizes the
flexibility of metal. The mechanism has three basic components: a wave
generator (C), a flex spline (B), and a circular spline (A). More complex
versions have a fourth component normally used to shorten the overall length or
to increase the gear reduction within a smaller diameter, but still follow the same
basic principles.
• The wave generator is made up of two separate parts: an elliptical disk
called a wave generator plug and an outer ball bearing. The gear plug is
inserted into the bearing, giving the bearing an elliptical shape as well.
• The flex spline is shaped like a shallow cup. The sides of the spline are very thin,
but the bottom is relatively rigid. This results in significant flexibility of the
walls at the open end due to the thin wall, and in the closed side being quite rigid
and able to be tightly secured (to a shaft, for example). Teeth are positioned
radially around the outside of the flex spline. The flex spline fits tightly over the
wave generator, so that when the wave generator plug is rotated, the flex spline
deforms to the shape of a rotating ellipse and does not slip over the outer
elliptical ring of the ball bearing. The ball bearing lets the flex spine rotate
independently to the wave generator's shaft.
• The circular spline is a rigid circular ring with teeth on the inside. The flex
spline and wave generator are placed inside the circular spline, meshing the
teeth of the flex spline and the circular spline. Because the flex spline is
deformed into an elliptical shape, its teeth only actually mesh with the teeth of
the circular spline in two regions on opposite sides of the flex spline (located on
the major axis of the ellipse).
• Assume that the wave generator is the input rotation. As the wave generator plug
rotates, the flex spline teeth which are meshed with those of the circular spline
slowly change position. The major axis of the flex spline's ellipse rotates with
wave generator, so the points where the teeth mesh revolve around the center
point at the same rate as the wave generator's shaft. The key to the design of the
strain wave gear is that there are fewer teeth (often for example two fewer) on
the flex spline than there are on the circular spline. This means that for every full
rotation of the wave generator, the flex spline would be required to rotate a slight
amount (two teeth in this example) backward relative to the circular spline. Thus
the rotation action of the wave generator results in a much slower rotation of the
flex spline in the opposite direction.
• For a strain wave gearing mechanism, the gearing reduction ratio can be
calculated from the number of teeth on each gear: