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Robotics Week 3

Robotics Lesson week 3

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13 views

Robotics Week 3

Robotics Lesson week 3

Uploaded by

geraldjetjet
Copyright
© © All Rights Reserved
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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ISULAN NATIONAL HIGH SCHOOL

Grade 10-STE
MODULE FOR BLENDED LEARNING
TOPIC: ROBOTICS

OPERATION OF MOTORS USED IN ROBOTS


Operation Principles:

 Fleming's Left-Hand Rule: This rule describes the relationship between the direction of the
magnetic field, the direction of current flow, and the resulting force in a conductor.

 Torque and Speed: The torque produced by a DC motor is proportional to the strength of the
magnetic field and the current flowing through the armature. Speed is determined by the
applied voltage and the motor's mechanical load.

Components and Construction:

 Armature: Typically, a
coil of wire wound
around a core, the
armature is the
rotating part of the
motor.
 Field Magnets:
Permanent magnets or
electromagnets create
the static magnetic
field within which the
armature rotates.
 Commutator and
Brushes: In brushed DC
motors, these
components switch the
direction of current
flow in the armature
windings as it rotates.
Control and Feedback:

 PWM Control: Pulse Width Modulation (PWM) is commonly used to control the speed of DC
motors by varying the duty cycle of the applied voltage.
 Feedback Systems: Encoders, Hall effect sensors, or other feedback devices can provide
information about the motor's position, speed, and direction, enabling closed-loop control
for precise motion control in robotics.

Applications in Robotics:

 Mobility: DC motors power the wheels or tracks of mobile robots, allowing them to navigate
environments and perform tasks.
 Manipulation: In robotic arms and grippers, DC motors provide the necessary torque and
precision for object manipulation and assembly tasks.
 Sensory Feedback: Motors equipped with encoders or sensors can provide feedback on the
robot's interactions with the environment, enabling adaptive behavior and safer operation.

Challenges and Advances:

 Efficiency and Power Consumption: Improving the efficiency of DC motors contributes to


longer battery life and increased autonomy for mobile robots.
 Miniaturization and Integration: Advances in motor design and manufacturing techniques
enable the development of compact and lightweight motors suitable for small-scale and agile
robotic platforms.

Motor Characteristics:

 Speed-Torque Characteristics: DC motors exhibit different speed-torque curves based on the


applied voltage and mechanical load. Understanding these characteristics is crucial for
selecting the right motor for a specific robotic application.
 Stall Torque: The maximum torque a motor can produce when the shaft is prevented from
rotating. It's an important consideration for applications requiring high starting torque, such
as lifting heavy loads or overcoming friction.

Motor Control Techniques:

 PID Control: Proportional-Integral-Derivative (PID) control is widely used for precise speed
and position control of DC motors in robotics. It adjusts the motor's input voltage based on
error signals derived from desired and actual positions or speeds.
 Trajectory Planning: Advanced robotics systems employ trajectory planning algorithms to
generate smooth motion profiles for the motors, minimizing jerk and ensuring efficient and
precise movement.

Motor Dynamics and Modeling:

 Electrical Dynamics: The electrical dynamics of DC motors, including inductance and


resistance, affect their response to applied voltage changes. Models incorporating these
dynamics help in designing robust control systems.
 Mechanical Dynamics: Factors such as inertia, friction, and compliance in the mechanical
system influence the motor's response to control inputs. Dynamic modeling allows engineers
to predict and optimize the motor's behavior in various operating conditions.
Motor Efficiency and Power Management:

 Efficiency Optimization: Techniques such as field weakening in brushed DC motors or phase


advance control in BLDC motors are used to maximize motor efficiency over a range of
operating conditions.
 Regenerative Braking: In certain robotic applications, regenerative braking systems capture
energy during deceleration and braking phases, returning it to the power source or storing it
for later use, enhancing overall energy efficiency.

Motor Selection and Integration:

 Performance Requirements: Selecting the right motor involves considering factors such as
required torque, speed, power consumption, size, and weight, as well as environmental
conditions and reliability requirements.
 Integration Challenges: Integrating motors into robotic systems involves mechanical,
electrical, and software considerations, including mounting, wiring, and interfacing with
control systems and sensors.

Emerging Trends and Technologies:

 Smart Motors: Integration of sensors and onboard processing capabilities into motors
enables self-monitoring, diagnostics, and predictive maintenance, enhancing reliability and
uptime.
 Soft Robotics: Soft actuators, such as pneumatic artificial muscles or dielectric elastomer
actuators, offer alternative approaches to traditional motor-driven systems, enabling safe
interaction with humans and delicate objects.

Activity:
 Draw a simplified diagram of a DC motor on a piece of A4 bond paper, including the
armature, commutator, brushes, and field magnets.
 Label each component.
 Draw arrows to represent the flow of current through the armature and the resulting
direction of rotation.
 Write a short paragraph explaining how the motor operates based on the diagram.

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