Module 3: Actuators For Robots Lecture 7: Actuators For Robots-Part I Objectives

Module 3 : Actuators for robots
Lecture 7 : Actuators for Robots-Part I
Objectives
In this course you will learn about
Commercial or industrial manipulator's capabilities.
Typical electrical drives in manipulators and their control
Characteristics of such drives
Introduction:
Typical commercial / industrial manipulator capabilities.
Articulated SCARA
Reach 2.5 meter 1.2 meter
Payload 125 Kg 10-50 Kg
Waist rotation (degree) 360 120
Rotational speeds (degree) 100 to 200/sec Tip speed 2 meter/sec
Repeatability 0.4 mm .03 to .05 mm
Weight 1600 Kg 30-100 Kg
Drives in Manipulators
The term servo derived from phrase “to serve”, has meaning that “the system that can be controlled.” The
electrical actuators that can be controlled are DC servomotors, AC servo motors and stepper motors.
Following is an explanation of such motors.
DC servo
AC servo
Stepper motor
DC servo conventional motors
A PMDC servo stator has permanent magnets and the rotor is wound. Brushes are used for commutation.
Brushes wear and also cause noise. Brushless motors overcome these limitations. The electronic circuit
and rotor motion is sensed thru Hall's effect sensors.
In robotic applications, the servo motor is required to produce rapid accelerations. In such system one
needs to have motors with low inertia. Low inertia is achieved by reduced armature diameter with
increase in armature length such that desired output power is achieved. Thus except minor differences in
constructional features, DC servo motor is an ordinary DC motor.
Motor Charecrerustucs
PMDC motors have Characteristics as follows (Figure 7.2.2 and Figure 7.2.3)
Figure 7.2.2
Figure 7.2.3
The power consumed by above motor has characteristics is shown in Figure 7.2.4
Figure 7.2.4
Contd...
Application:
1. Continuous duty operation needs check for heat generation
2. Intermittent operation / motion /duty needs calculation of RMS torque as follows

A typical Intermittent operation: (Refer Figure 7.2.5)
Figure 7.2.5
1. From O to A for t1 Acceleration.
2. From A to B for t 2 uniform velocity
3. From B to C for t3 deceleration.
4. From C to D for t4 Dwell, vel=0; Accn=0
The motor:
PMDC motors rotate at high speeds and a gear-reducer is required to reduce the speed to requisite levels.
In intermittent operations the angular velocity varies from instant to instant and choice of the gear –
reduction ratio “G” is critical. We are aware that torque drops as motor speed increases. As a first step we
choose
where = angular vel of load, = angular vel of motor and = angular accn. of load
and = angular accn of motor
We use the following rule for the preliminary selection of G
2 (Max speed of load) = G (Max allowable speed of motor ) l
SIZING THE DRIVE for INTERMITTENT MOTION
A few formulae
Now we need to size the motor – namely determine the torque and power. Let
I m --- Motor inertia
I I ---- Load inertia
---- Joint Motor and gear box efficiency
We know:
One may compute the torque to be provided by motor to drive the load with Inertial I I as, I I = I I * *
G= I I *G* *G=G 2 * I I *
We thus have:
Net torque = I m +G 2 I I
Effective inertia= (I m + G 2 I I )
We shall now determine the RMS torque as follows for the motion which is as given in figure 7.4.1. This
motion consists of accelerations, uniform velocities and decelerations.
The first step is to compute the torque requirements for each of these portions of the cycle. This depends
on the motor and gear-box inertias, the load inertial, efficiencies and so on.
Table giving the torque computation for each portion of the cycle: (see Figure 7.4.2)
O to A angular acceleration =
Torque T 1 =
A to B ang accn= 0 constant vel.
Torque T 2 =
B to C t3 ang accn=
Torque T 3 =
(Friction torque is subtracted here since friction aids deceleration)
The RMS torque is thus given by:
Selection of Motor
The final selection of motor depends on the peak speed and peak torque requirements , where T Peak Max
of (magnitudes)
We use this data and the RMS value of torque to select the motor from the performance curves provided by
the manufacturer. In addition to the above one has to check the heat generated by the motor as well as
the natural frequency of the drive.
Figure 7.5
Selecting Drive Electronics:
Having selected the motor – now we have to determine the basic parameters (current and voltage)
required to select the dive electronics.
We use the following formulae to determine the same:
Current
Voltage
motor speed
torque constant
electrical constant
R motor resistance
I current
V voltage
Recap
In this course you have learnt the following
DC Servo motors drive
DC servo motor selection for intermittent operation
Congratulations, you have finished Lecture 7. To view the next lecture select it from the left hand side
menu of the page.

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Module 3 : Actuators for robots

Lecture 7 : Actuators for Robots-Part I

Commercial or industrial manipulator's capabilities.

Typical electrical drives in manipulators and their control

Characteristics of such drives

Reach 2.5 meter 1.2 meter

Payload 125 Kg 10-50 Kg

Waist rotation (degree) 360 120

Rotational speeds (degree) 100 to 200/sec Tip speed 2 meter/sec

Repeatability 0.4 mm .03 to .05 mm

Weight 1600 Kg 30-100 Kg

DC servo conventional motors

1. Continuous duty operation needs check for heat generation

2. Intermittent operation / motion /duty needs calculation of RMS torque as follows

2. From A to B for t 2 uniform velocity

3. From B to C for t3 deceleration.

4. From C to D for t4 Dwell, vel=0; Accn=0

and = angular accn of motor

We use the following rule for the preliminary selection of G

2 (Max speed of load) = G (Max allowable speed of motor ) l

SIZING THE DRIVE for INTERMITTENT MOTION

I I ---- Load inertia

---- Joint Motor and gear box efficiency

A to B ang accn= 0 constant vel.

(Friction torque is subtracted here since friction aids deceleration)

The RMS torque is thus given by:

We use the following formulae to determine the same:

DC Servo motors drive

DC servo motor selection for intermittent operation

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