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Chapter 2 Actuators and Drive Systems - MIT OpenCourseWare

Introduction to Robotics, H. Harry Asada 1 Chapter 2 Actuators and Drive Systems Actuators are one of the key components contained in a robotic system. A robot has many degrees of freedom, each of which is a servoed joint generating desired motion. We begin with basic actuator characteristics and Drive amplifiers to understand behavior of servoed joints. Most of today s robotic Systems are powered by electric servomotors. Therefore, we focus on electromechanical Actuators . DC Motors Figure 2-1 illustrates the construction of a DC servomotor, consisting of a stator , a rotor, and a commutation mechanism.

Stator Winding Bearings Shaft Brush Rotor Windings i a N Commutator S Inertia Load Figure by MIT OCW. Introduction to Robotics, H. Harry Asada 2 power. Let E be the voltage applied to the idealized transducer. The electric power is then given

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