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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. The stator consists of permanent magnets, creating a magnetic field in the air gap between the rotor and the stator. The rotor has several windings arranged symmetrically around the motor shaft.

The gear ratio of a robotic system is typically 20 ~ 100, which means that the effective inertia and damping becomes 400 ~ 10,000 times larger than those of the motor itself. Im For fast dynamic response, the inertia of the motor rotor must be small. This is a crucial requirement as the gear ratio gets larger, like robotics applications.

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