Actuator Components • Actuators – Hydraulics – Pneumatics – Electric Motors • Gearing • Bearings • Seals U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics 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 Energy 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 Valve 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 Stepper Motor 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 Gear 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 Gears 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 Chain Drive with Idler U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 39 V-Belt 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 Rack and Pinion Gears U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 42 Screw Drive Schematic U N I V E R S I T Y O F Actuator Components ENAE 788X - Planetary Surface Robotics MARYLAND 43 Linear Actuator 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.