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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.

constant given by eq.(1). This voltage E is called the back emf (electro-motive force) generated at the air gap, and the proportionality constant is often called the back emf constant. Note that, based on eq.(1), the unit of the torque constant is Nm/A in the metric system, whereas the one of the back emf constant is V/rad/s based on eq.(2).

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