Harpeth Hall Winterim 2016 Servo Motors, Stepper Motors, and DC motors ARMA Lab Vanderbilt University Prepared by Rashid Yasin Harpeth Hall Winterim January.

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Presentation transcript:

Harpeth Hall Winterim 2016 Servo Motors, Stepper Motors, and DC motors ARMA Lab Vanderbilt University Prepared by Rashid Yasin Harpeth Hall Winterim January 2016

Harpeth Hall Winterim 2016 Overview Robots need to move Many different kinds of actuators Today, we will review servos, DC motors, stepper motors yhKSTGwrIX4/UfrLm60CnOI/AAAAAAAAA DM/NY5BMn1oOp0/s1600/stepper_motor.j pg content/uploads/2012/06/Servo-Motor.gif china.com/4f0j00qvUamTtdbgoF/DC-Motor-RF-385-.jpg

Harpeth Hall Winterim 2016 What is a servo motor? 2 words servo, motor  Servo (servomechanism)  Motor Generally refers to comparatively low-cost motors that are used for precise positioning tasks Often used in RC hobbyist builds or in prototyping  Not limited to such uses

Harpeth Hall Winterim 2016 What to use servo motors for Need accurate position control Don’t need rotation more than 180 or 260 degrees

Harpeth Hall Winterim 2016 Servo Motor Components Motor Gear train Feedback sensor (potentiometer)

Harpeth Hall Winterim 2016 Servo Motor Components - Motor

Harpeth Hall Winterim 2016 Servo Motor Components – Gear train

Harpeth Hall Winterim 2016 Servo Motor Components - Sensor

Harpeth Hall Winterim 2016 Connecting a servo motor 3 cables Power, ground, signal Power almost always the same – some constant voltage

Harpeth Hall Winterim 2016 Servos Servos are pulse length modulation controlled  Which, dumbly, isn’t a real thing. Sigh

Harpeth Hall Winterim 2016 Servo Motor Signal Digital signal: high or low Time-dependent Runs on a clock – every 20 ms!???? (200 hz????) If the motor does not get a signal, it will turn off  Location

Harpeth Hall Winterim 2016 Controlling a servo with Arduino

Harpeth Hall Winterim 2016 Controlling a servo with Arduino and a pot

Harpeth Hall Winterim 2016 “Closed loop” control Servo is an example of “closed loop” control Often better to Examples:  Toaster, dryer, sprinkler  Stepper motors: used in printer heads  Continuous servos

Harpeth Hall Winterim 2016 Continuous Servos Similar to a DC motor, but based around a servo Allows for multi-turn applications servos

Harpeth Hall Winterim 2016 Steppers

Harpeth Hall Winterim 2016 DC Motors

Harpeth Hall Winterim 2016 Transistors Act like an amplifier

Harpeth Hall Winterim 2016 Transistor Data sheet In your Arduino kit, you have a transistor I

Harpeth Hall Winterim 2016 Controlling a DC motor with arduino

Harpeth Hall Winterim 2016 Mechanisms There is a lot you can do with only rotary joints Many robot manipulators only have rotary joints in an “open chain” We can intelligently use links, joints, and actuators to make different motion profiles Examples:

Harpeth Hall Winterim 2016

Moving from rotary to linear motion Can use mechanisms to get linear motion

Harpeth Hall Winterim 2016 Linear actuators But sometimes, we need more than just a mechanism, need a different kind of actuator Lead screw – many kinds, very common Solenoid Voice coil Pneumatic/hydraulic