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Actuator Components • Actuators – – – Electric Motors • Gearing • Bearings • Seals

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface MARYLAND 1 Fundamental Elements of Robotics

Environment

Planning Sensing and Actuation Reasoning

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 2 Prime Mover Taxonomy • Electrical – Direct Current – Alternating Current • Non-Electrical – Hydraulics – Pneumatics – Chemical – Thermal – Stored

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 3 Hydraulics and Pneumatics

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 4 Pneumatic Actuator Cutaway

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 5 Hydraulic System Schematic

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 6 Hydraulic Spool Schematic

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 7 Brushed DC Motor Schematic

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 8 DC Brushed Motor Schematic

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 9 Brushed DC Motor Commutator

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 10 Brushless DC Motor

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 11 Brushless Outrunner Motor

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 12 DC Brushless Motor Schematic

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 13 Basic DC Motor Drive Characteristics

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 14 Effects of Temperature on DC Motors

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 15 Effects of Temperature on DC Motors

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 16 Speed as a Function of Torque

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 17 Standard DC Motor Characteristics

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 18 Motor Power

P = ⌧!

! = E⌧ + !NL (E<0)

2 P = ⌧ (!NL + E⌧)=⌧!NL + E⌧

dP = ! +2E⌧ =0 d⌧ NL ! ⌧ = NL max power 2E

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 19 DC Motor Power and Efficiency

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 20 Typical DC Motor Specification

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 21 Standard Motor Specifications

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 22 Axial Flux Motor

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 23 Exploded Image

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 24 Stepper Motor Schematic

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 25 Gearhead Motor Cutaway

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 26 Forms

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 27 Gearing Calculations ⌧ Gear ratio N ⌧ = I!˙ = I = ⌘ ) !˙ ⌧output Ioutput = !˙ output ⌧output = N⌘gear⌧input

N⌘gear⌧input Ioutput = !˙ !input input ! = N output N 2 Ioutput = N ⌘gearIinput !˙ input For ideal gearing, !˙ output = N 2 Ioutput = N Iinput U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 28 Spur

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 29 Spur Gear Parameters

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 30 Helical Gears

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 31 Planetary Gears

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 32 Bevel Gears

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 33 Bevel Gear Kinematics

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 34 Automotive Differential Schematic

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 35 Automotive Differential (more realistic)

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 36 Worm Gear

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 37 Chain Drives

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 38 with Idler

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 39 V- Drive

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 40 Toothed Belt Drive

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 41 Gears

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 42 Drive Schematic

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 43 Cutaway

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 44 Cup-Style Harmonic Drive

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 45 Operating Principle of Harmonic Drives

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 46 Pancake Harmonic Drive

U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 47