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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.

and needs a high torque to bear the load. In other words, the impedance of the actuator: m m m angular velocity torque Z ω τ = = (2.2.1) is much smaller than that of the load. τload ωload Joint Axis Gearing Arm Links DC Motor Figure 2.2.1 Joint axis drive system 1 Although a robotic system has multiple axes driven by multiple actuators ...

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