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.

system. Figure 2.2.1 shows a schematic diagram of a single-axis drive system consisting of a DC motor, a gear head, and arm links1. An electric motor, such as a DC motor, produces a relatively small torque and rotates at a high speed, whereas a robotic joint axis in general rotates slowly, and needs a high torque to bear the load.

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