ece 3400 intelligent physical systems

1

Sources httpswwwmicrochipcomstellentgroupsSiteComm_sgdocumentsDeviceDocen543041pdfhttpswwwmathworkscomproductsconnectionsproduct_detailhebi-robotics-actuatorshtml

Actuators

ECE 3400 Intelligent Physical Systems

bull What is itbull How does it workbull How do your characterize thembull Gearsbull Sizing thembull Driving them

ActuatorsA device that converts energy into mechanical motion

bull Electricbull Mechanicalbull Hydraulicbull Pneumatic

Actuators

bull Electricbull Mechanicalbull Hydraulicbull Pneumaticbull Bio-hybrid

A device that converts energy into mechanical motion

Actuators

bull Electricbull Mechanicalbull Hydraulicbull Pneumaticbull Bio-hybridbull Magneticbull Light-drivenbull Thermal


Actuators

bull Electricbull Mechanicalbull Hydraulicbull Pneumaticbull Bio-hybridbull Magneticbull Light-drivenbull Thermalbull hellipanything goes


ActuatorsBrushed DC motors

Brushed DC motor

PHYS 2213 ElectromagnetismECE 3030 Electromagnetic fields and waves

Brushed DC motor

Brushed DC motorbull Amperersquos Right Hand Rule

Brushed DC motor

Brushed DC motor

Brushed DC motor

Brushed DC motor

Brushed DC motor

Brushed DC motorbull Advantages

bull Easy to controlbull Inexpensive

bull Disadvantagesbull Brushes suffer from wearbull Not very energy efficient

bull What is torque

Brushed DC motor characterization

Torque [Nm]

Speed [rpm]

free-running current

Stall current

vmotor = 6V

vmotor = 45V

vmotor = 3V

τ = F ∙ a

Stall torque

free-running speed

Pmotor = τmotor vmotor[kW] = [Nm] [rpm]

a

m

F = m ∙ gbull What happens if you turn

down the voltage




bull Standard motors are fast and weakbull What is done to decrease the speed

bull Gear trains

Gear Trains

Helical gears Transmit power between parallel and non-parallel shafts (less noise)

Spur gears Transmit power between parallel shafts

Bevel gears Transmit rotary motion between intersecting shafts

Worm gears Used for very high gear ratios

Linear gears Rotary to linear motion

Gear Trains

N1 = 30

N2 = 20

Gear Trains

Drive gear(motor)

Driven gear

What is the gear ratio

Gear Trains

N1 = 30

N2 = 20

1199071199072 = 1199071199071 11987311987311198731198732


Gear Trains

1199071199073 = 1199071199071 11987311987311198731198733

3

21


1199071199073 = 1199071199071 11987311987311198731198732

11987311987321198731198733

real gears have loss - rule of thumb gears loose ~10 per contact point

Sizing your DC motor Datasheetbull Speed 0-50RPMbull 38 oz-in torque 6 V

(It will take the robot ~70ms to reach top speed)


bull What is torque

τ = F ∙ a

a

m

F = m ∙ g

bull τstall = 38 oz-in = 234 kg-cmbull Wheel diameter = 2rdquo rarr rwheel = 254cmbull The ldquoforcerdquo that the motor can apply is

bull mforce = τstall rwheel = 234kgcm 254cm = 921 gbull (if you used the wheel as a winch it could lift a weight of 921g before stalling)

bull vno-load = 50RPMbull One round corresponds to the wheel circumference Cwheel = 254cm2π = 16cmbull Without a load vrobot-top_speed = Cwheel vno-load = 800cmmin = 13cmsbull What about the accelerationbull Constant max torque 234kg-cm and a robot weight of 05kg

bull F = mforce g bull What does that mean

rarr a = 0921kg0500kg 982ms2 = 18ms2= mrobot a

Sizing your DC motorbull Except that is not truehellipbull What slows the robot down

bull NEVER size your motor for stall torquebull (Itrsquos okay to overcome static friction but donrsquot do it continuously)

bull Friction in the bearingsbull Friction between wheel and groundbull Aerodynamics (probably not)bull Turning off axisbull Imperfect wheel balancebull hellipthe motor has to overcome all of this

bull So how could you estimate how much power is neededbull Example How much weight at the end of a pulley does it take to move your robot

Sizing your DC motor

Torque

Speed [rpm]

50RPM Pmotor = τmotor vmotor[kW] = [Nm] [rpm]vmotor = 5V

vmotor = 6V

234kg-cmtorque caused by robot weight friction etc

Robot speed

Driving a DC motor

Driving a DC motor

bull Analog voltagebull Why is this circuit

not enough

Driving a DC motor

bull Analog voltagebull H-Bridge

Driving a DC motor


Driving a DC motor


Driving a DC motor

bull Electromotive Force (EMF)

ldquoMotorrdquo


Driving a DC motor



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ActuatorsA device that converts energy into mechanical motion

bull Electricbull Mechanicalbull Hydraulicbull Pneumatic

Actuators



Actuators



Actuators




Brushed DC motor


Brushed DC motor


Brushed DC motor

Brushed DC motor

Brushed DC motor

Brushed DC motor

Brushed DC motor




bull What is torque


Torque [Nm]

Speed [rpm]


Stall current

vmotor = 6V

vmotor = 45V

vmotor = 3V

τ = F ∙ a

Stall torque

free-running speed


a

m


down the voltage





bull Gear trains

Gear Trains






Gear Trains

N1 = 30

N2 = 20

Gear Trains

Drive gear(motor)

Driven gear


Gear Trains

N1 = 30

N2 = 20

1199071199072 = 1199071199071 11987311987311198731198732


Gear Trains

1199071199073 = 1199071199071 11987311987311198731198733

3

21


1199071199073 = 1199071199071 11987311987311198731198732

11987311987321198731198733





bull What is torque

τ = F ∙ a

a

m

F = m ∙ g











Torque

Speed [rpm]


vmotor = 6V


Robot speed

Driving a DC motor

Driving a DC motor


not enough

Driving a DC motor


Driving a DC motor


Driving a DC motor


Driving a DC motor


ldquoMotorrdquo


Driving a DC motor



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Slide Number 35

Actuators



Actuators



Actuators




Brushed DC motor


Brushed DC motor


Brushed DC motor

Brushed DC motor

Brushed DC motor

Brushed DC motor

Brushed DC motor




bull What is torque


Torque [Nm]

Speed [rpm]


Stall current

vmotor = 6V

vmotor = 45V

vmotor = 3V

τ = F ∙ a

Stall torque

free-running speed


a

m


down the voltage





bull Gear trains

Gear Trains






Gear Trains

N1 = 30

N2 = 20

Gear Trains

Drive gear(motor)

Driven gear


Gear Trains

N1 = 30

N2 = 20

1199071199072 = 1199071199071 11987311987311198731198732


Gear Trains

1199071199073 = 1199071199071 11987311987311198731198733

3

21


1199071199073 = 1199071199071 11987311987311198731198732

11987311987321198731198733





bull What is torque

τ = F ∙ a

a

m

F = m ∙ g











Torque

Speed [rpm]


vmotor = 6V


Robot speed

Driving a DC motor

Driving a DC motor


not enough

Driving a DC motor


Driving a DC motor


Driving a DC motor


Driving a DC motor


ldquoMotorrdquo


Driving a DC motor



Slide Number 1

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Slide Number 34

Slide Number 35

Actuators



Actuators




Brushed DC motor


Brushed DC motor


Brushed DC motor

Brushed DC motor

Brushed DC motor

Brushed DC motor

Brushed DC motor




bull What is torque


Torque [Nm]

Speed [rpm]


Stall current

vmotor = 6V

vmotor = 45V

vmotor = 3V

τ = F ∙ a

Stall torque

free-running speed


a

m


down the voltage





bull Gear trains

Gear Trains






Gear Trains

N1 = 30

N2 = 20

Gear Trains

Drive gear(motor)

Driven gear


Gear Trains

N1 = 30

N2 = 20

1199071199072 = 1199071199071 11987311987311198731198732


Gear Trains

1199071199073 = 1199071199071 11987311987311198731198733

3

21


1199071199073 = 1199071199071 11987311987311198731198732

11987311987321198731198733





bull What is torque

τ = F ∙ a

a

m

F = m ∙ g











Torque

Speed [rpm]


vmotor = 6V


Robot speed

Driving a DC motor

Driving a DC motor


not enough

Driving a DC motor


Driving a DC motor


Driving a DC motor


Driving a DC motor


ldquoMotorrdquo


Driving a DC motor



Slide Number 1

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Actuators




Brushed DC motor


Brushed DC motor


Brushed DC motor

Brushed DC motor

Brushed DC motor

Brushed DC motor

Brushed DC motor




bull What is torque


Torque [Nm]

Speed [rpm]


Stall current

vmotor = 6V

vmotor = 45V

vmotor = 3V

τ = F ∙ a

Stall torque

free-running speed


a

m


down the voltage





bull Gear trains

Gear Trains






Gear Trains

N1 = 30

N2 = 20

Gear Trains

Drive gear(motor)

Driven gear


Gear Trains

N1 = 30

N2 = 20

1199071199072 = 1199071199071 11987311987311198731198732


Gear Trains

1199071199073 = 1199071199071 11987311987311198731198733

3

21


1199071199073 = 1199071199071 11987311987311198731198732

11987311987321198731198733





bull What is torque

τ = F ∙ a

a

m

F = m ∙ g











Torque

Speed [rpm]


vmotor = 6V


Robot speed

Driving a DC motor

Driving a DC motor


not enough

Driving a DC motor


Driving a DC motor


Driving a DC motor


Driving a DC motor


ldquoMotorrdquo


Driving a DC motor



Slide Number 1

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Brushed DC motor


Brushed DC motor


Brushed DC motor

Brushed DC motor

Brushed DC motor

Brushed DC motor

Brushed DC motor




bull What is torque


Torque [Nm]

Speed [rpm]


Stall current

vmotor = 6V

vmotor = 45V

vmotor = 3V

τ = F ∙ a

Stall torque

free-running speed


a

m


down the voltage





bull Gear trains

Gear Trains






Gear Trains

N1 = 30

N2 = 20

Gear Trains

Drive gear(motor)

Driven gear


Gear Trains

N1 = 30

N2 = 20

1199071199072 = 1199071199071 11987311987311198731198732


Gear Trains

1199071199073 = 1199071199071 11987311987311198731198733

3

21


1199071199073 = 1199071199071 11987311987311198731198732

11987311987321198731198733





bull What is torque

τ = F ∙ a

a

m

F = m ∙ g











Torque

Speed [rpm]


vmotor = 6V


Robot speed

Driving a DC motor

Driving a DC motor


not enough

Driving a DC motor


Driving a DC motor


Driving a DC motor


Driving a DC motor


ldquoMotorrdquo


Driving a DC motor



Slide Number 1

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Brushed DC motor


Brushed DC motor

Brushed DC motor

Brushed DC motor

Brushed DC motor

Brushed DC motor




bull What is torque


Torque [Nm]

Speed [rpm]


Stall current

vmotor = 6V

vmotor = 45V

vmotor = 3V

τ = F ∙ a

Stall torque

free-running speed


a

m


down the voltage





bull Gear trains

Gear Trains






Gear Trains

N1 = 30

N2 = 20

Gear Trains

Drive gear(motor)

Driven gear


Gear Trains

N1 = 30

N2 = 20

1199071199072 = 1199071199071 11987311987311198731198732


Gear Trains

1199071199073 = 1199071199071 11987311987311198731198733

3

21


1199071199073 = 1199071199071 11987311987311198731198732

11987311987321198731198733





bull What is torque

τ = F ∙ a

a

m

F = m ∙ g











Torque

Speed [rpm]


vmotor = 6V


Robot speed

Driving a DC motor

Driving a DC motor


not enough

Driving a DC motor


Driving a DC motor


Driving a DC motor


Driving a DC motor


ldquoMotorrdquo


Driving a DC motor



Slide Number 1

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Brushed DC motor

Brushed DC motor

Brushed DC motor

Brushed DC motor

Brushed DC motor




bull What is torque


Torque [Nm]

Speed [rpm]


Stall current

vmotor = 6V

vmotor = 45V

vmotor = 3V

τ = F ∙ a

Stall torque

free-running speed


a

m


down the voltage





bull Gear trains

Gear Trains






Gear Trains

N1 = 30

N2 = 20

Gear Trains

Drive gear(motor)

Driven gear


Gear Trains

N1 = 30

N2 = 20

1199071199072 = 1199071199071 11987311987311198731198732


Gear Trains

1199071199073 = 1199071199071 11987311987311198731198733

3

21


1199071199073 = 1199071199071 11987311987311198731198732

11987311987321198731198733





bull What is torque

τ = F ∙ a

a

m

F = m ∙ g











Torque

Speed [rpm]


vmotor = 6V


Robot speed

Driving a DC motor

Driving a DC motor


not enough

Driving a DC motor


Driving a DC motor


Driving a DC motor


Driving a DC motor


ldquoMotorrdquo


Driving a DC motor



Slide Number 1

Slide Number 2

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Brushed DC motor

Brushed DC motor

Brushed DC motor

Brushed DC motor




bull What is torque


Torque [Nm]

Speed [rpm]


Stall current

vmotor = 6V

vmotor = 45V

vmotor = 3V

τ = F ∙ a

Stall torque

free-running speed


a

m


down the voltage





bull Gear trains

Gear Trains






Gear Trains

N1 = 30

N2 = 20

Gear Trains

Drive gear(motor)

Driven gear


Gear Trains

N1 = 30

N2 = 20

1199071199072 = 1199071199071 11987311987311198731198732


Gear Trains

1199071199073 = 1199071199071 11987311987311198731198733

3

21


1199071199073 = 1199071199071 11987311987311198731198732

11987311987321198731198733





bull What is torque

τ = F ∙ a

a

m

F = m ∙ g











Torque

Speed [rpm]


vmotor = 6V


Robot speed

Driving a DC motor

Driving a DC motor


not enough

Driving a DC motor


Driving a DC motor


Driving a DC motor


Driving a DC motor


ldquoMotorrdquo


Driving a DC motor



Slide Number 1

Slide Number 2

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Slide Number 35

Brushed DC motor

Brushed DC motor

Brushed DC motor




bull What is torque


Torque [Nm]

Speed [rpm]


Stall current

vmotor = 6V

vmotor = 45V

vmotor = 3V

τ = F ∙ a

Stall torque

free-running speed


a

m


down the voltage





bull Gear trains

Gear Trains






Gear Trains

N1 = 30

N2 = 20

Gear Trains

Drive gear(motor)

Driven gear


Gear Trains

N1 = 30

N2 = 20

1199071199072 = 1199071199071 11987311987311198731198732


Gear Trains

1199071199073 = 1199071199071 11987311987311198731198733

3

21


1199071199073 = 1199071199071 11987311987311198731198732

11987311987321198731198733





bull What is torque

τ = F ∙ a

a

m

F = m ∙ g











Torque

Speed [rpm]


vmotor = 6V


Robot speed

Driving a DC motor

Driving a DC motor


not enough

Driving a DC motor


Driving a DC motor


Driving a DC motor


Driving a DC motor


ldquoMotorrdquo


Driving a DC motor



Slide Number 1

Slide Number 2

Slide Number 3

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Brushed DC motor

Brushed DC motor




bull What is torque


Torque [Nm]

Speed [rpm]


Stall current

vmotor = 6V

vmotor = 45V

vmotor = 3V

τ = F ∙ a

Stall torque

free-running speed


a

m


down the voltage





bull Gear trains

Gear Trains






Gear Trains

N1 = 30

N2 = 20

Gear Trains

Drive gear(motor)

Driven gear


Gear Trains

N1 = 30

N2 = 20

1199071199072 = 1199071199071 11987311987311198731198732


Gear Trains

1199071199073 = 1199071199071 11987311987311198731198733

3

21


1199071199073 = 1199071199071 11987311987311198731198732

11987311987321198731198733





bull What is torque

τ = F ∙ a

a

m

F = m ∙ g











Torque

Speed [rpm]


vmotor = 6V


Robot speed

Driving a DC motor

Driving a DC motor


not enough

Driving a DC motor


Driving a DC motor


Driving a DC motor


Driving a DC motor


ldquoMotorrdquo


Driving a DC motor



Slide Number 1

Slide Number 2

Slide Number 3

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Brushed DC motor




bull What is torque


Torque [Nm]

Speed [rpm]


Stall current

vmotor = 6V

vmotor = 45V

vmotor = 3V

τ = F ∙ a

Stall torque

free-running speed


a

m


down the voltage





bull Gear trains

Gear Trains






Gear Trains

N1 = 30

N2 = 20

Gear Trains

Drive gear(motor)

Driven gear


Gear Trains

N1 = 30

N2 = 20

1199071199072 = 1199071199071 11987311987311198731198732


Gear Trains

1199071199073 = 1199071199071 11987311987311198731198733

3

21


1199071199073 = 1199071199071 11987311987311198731198732

11987311987321198731198733





bull What is torque

τ = F ∙ a

a

m

F = m ∙ g











Torque

Speed [rpm]


vmotor = 6V


Robot speed

Driving a DC motor

Driving a DC motor


not enough

Driving a DC motor


Driving a DC motor


Driving a DC motor


Driving a DC motor


ldquoMotorrdquo


Driving a DC motor



Slide Number 1

Slide Number 2

Slide Number 3

Slide Number 4

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Slide Number 30

Slide Number 31

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bull What is torque


Torque [Nm]

Speed [rpm]


Stall current

vmotor = 6V

vmotor = 45V

vmotor = 3V

τ = F ∙ a

Stall torque

free-running speed


a

m


down the voltage





bull Gear trains

Gear Trains






Gear Trains

N1 = 30

N2 = 20

Gear Trains

Drive gear(motor)

Driven gear


Gear Trains

N1 = 30

N2 = 20

1199071199072 = 1199071199071 11987311987311198731198732


Gear Trains

1199071199073 = 1199071199071 11987311987311198731198733

3

21


1199071199073 = 1199071199071 11987311987311198731198732

11987311987321198731198733





bull What is torque

τ = F ∙ a

a

m

F = m ∙ g











Torque

Speed [rpm]


vmotor = 6V


Robot speed

Driving a DC motor

Driving a DC motor


not enough

Driving a DC motor


Driving a DC motor


Driving a DC motor


Driving a DC motor


ldquoMotorrdquo


Driving a DC motor



Slide Number 1

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Slide Number 29

Slide Number 30

Slide Number 31

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Slide Number 35





bull Gear trains

Gear Trains






Gear Trains

N1 = 30

N2 = 20

Gear Trains

Drive gear(motor)

Driven gear


Gear Trains

N1 = 30

N2 = 20

1199071199072 = 1199071199071 11987311987311198731198732


Gear Trains

1199071199073 = 1199071199071 11987311987311198731198733

3

21


1199071199073 = 1199071199071 11987311987311198731198732

11987311987321198731198733





bull What is torque

τ = F ∙ a

a

m

F = m ∙ g











Torque

Speed [rpm]


vmotor = 6V


Robot speed

Driving a DC motor

Driving a DC motor


not enough

Driving a DC motor


Driving a DC motor


Driving a DC motor


Driving a DC motor


ldquoMotorrdquo


Driving a DC motor



Slide Number 1

Slide Number 2

Slide Number 3

Slide Number 4

Slide Number 5

Slide Number 6

Slide Number 7

Slide Number 8

Slide Number 9

Slide Number 10

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Slide Number 17

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Slide Number 22

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Slide Number 24

Slide Number 25

Slide Number 26

Slide Number 27

Slide Number 28

Slide Number 29

Slide Number 30

Slide Number 31

Slide Number 32

Slide Number 33

Slide Number 34

Slide Number 35

Gear Trains






Gear Trains

N1 = 30

N2 = 20

Gear Trains

Drive gear(motor)

Driven gear


Gear Trains

N1 = 30

N2 = 20

1199071199072 = 1199071199071 11987311987311198731198732


Gear Trains

1199071199073 = 1199071199071 11987311987311198731198733

3

21


1199071199073 = 1199071199071 11987311987311198731198732

11987311987321198731198733





bull What is torque

τ = F ∙ a

a

m

F = m ∙ g











Torque

Speed [rpm]


vmotor = 6V


Robot speed

Driving a DC motor

Driving a DC motor


not enough

Driving a DC motor


Driving a DC motor


Driving a DC motor


Driving a DC motor


ldquoMotorrdquo


Driving a DC motor



Slide Number 1

Slide Number 2

Slide Number 3

Slide Number 4

Slide Number 5

Slide Number 6

Slide Number 7

Slide Number 8

Slide Number 9

Slide Number 10

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Slide Number 17

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Slide Number 20

Slide Number 21

Slide Number 22

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Slide Number 24

Slide Number 25

Slide Number 26

Slide Number 27

Slide Number 28

Slide Number 29

Slide Number 30

Slide Number 31

Slide Number 32

Slide Number 33

Slide Number 34

Slide Number 35

Gear Trains

N1 = 30

N2 = 20

Gear Trains

Drive gear(motor)

Driven gear


Gear Trains

N1 = 30

N2 = 20

1199071199072 = 1199071199071 11987311987311198731198732


Gear Trains

1199071199073 = 1199071199071 11987311987311198731198733

3

21


1199071199073 = 1199071199071 11987311987311198731198732

11987311987321198731198733





bull What is torque

τ = F ∙ a

a

m

F = m ∙ g











Torque

Speed [rpm]


vmotor = 6V


Robot speed

Driving a DC motor

Driving a DC motor


not enough

Driving a DC motor


Driving a DC motor


Driving a DC motor


Driving a DC motor


ldquoMotorrdquo


Driving a DC motor



Slide Number 1

Slide Number 2

Slide Number 3

Slide Number 4

Slide Number 5

Slide Number 6

Slide Number 7

Slide Number 8

Slide Number 9

Slide Number 10

Slide Number 11

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Slide Number 25

Slide Number 26

Slide Number 27

Slide Number 28

Slide Number 29

Slide Number 30

Slide Number 31

Slide Number 32

Slide Number 33

Slide Number 34

Slide Number 35

N1 = 30

N2 = 20

Gear Trains

Drive gear(motor)

Driven gear


Gear Trains

N1 = 30

N2 = 20

1199071199072 = 1199071199071 11987311987311198731198732


Gear Trains

1199071199073 = 1199071199071 11987311987311198731198733

3

21


1199071199073 = 1199071199071 11987311987311198731198732

11987311987321198731198733





bull What is torque

τ = F ∙ a

a

m

F = m ∙ g











Torque

Speed [rpm]


vmotor = 6V


Robot speed

Driving a DC motor

Driving a DC motor


not enough

Driving a DC motor


Driving a DC motor


Driving a DC motor


Driving a DC motor


ldquoMotorrdquo


Driving a DC motor



Slide Number 1

Slide Number 2

Slide Number 3

Slide Number 4

Slide Number 5

Slide Number 6

Slide Number 7

Slide Number 8

Slide Number 9

Slide Number 10

Slide Number 11

Slide Number 12

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Slide Number 14

Slide Number 15

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Slide Number 17

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Slide Number 20

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Slide Number 22

Slide Number 23

Slide Number 24

Slide Number 25

Slide Number 26

Slide Number 27

Slide Number 28

Slide Number 29

Slide Number 30

Slide Number 31

Slide Number 32

Slide Number 33

Slide Number 34

Slide Number 35

Gear Trains

N1 = 30

N2 = 20

1199071199072 = 1199071199071 11987311987311198731198732


Gear Trains

1199071199073 = 1199071199071 11987311987311198731198733

3

21


1199071199073 = 1199071199071 11987311987311198731198732

11987311987321198731198733





bull What is torque

τ = F ∙ a

a

m

F = m ∙ g











Torque

Speed [rpm]


vmotor = 6V


Robot speed

Driving a DC motor

Driving a DC motor


not enough

Driving a DC motor


Driving a DC motor


Driving a DC motor


Driving a DC motor


ldquoMotorrdquo


Driving a DC motor



Slide Number 1

Slide Number 2

Slide Number 3

Slide Number 4

Slide Number 5

Slide Number 6

Slide Number 7

Slide Number 8

Slide Number 9

Slide Number 10

Slide Number 11

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Slide Number 24

Slide Number 25

Slide Number 26

Slide Number 27

Slide Number 28

Slide Number 29

Slide Number 30

Slide Number 31

Slide Number 32

Slide Number 33

Slide Number 34

Slide Number 35

Gear Trains

1199071199073 = 1199071199071 11987311987311198731198733

3

21


1199071199073 = 1199071199071 11987311987311198731198732

11987311987321198731198733





bull What is torque

τ = F ∙ a

a

m

F = m ∙ g











Torque

Speed [rpm]


vmotor = 6V


Robot speed

Driving a DC motor

Driving a DC motor


not enough

Driving a DC motor


Driving a DC motor


Driving a DC motor


Driving a DC motor


ldquoMotorrdquo


Driving a DC motor



Slide Number 1

Slide Number 2

Slide Number 3

Slide Number 4

Slide Number 5

Slide Number 6

Slide Number 7

Slide Number 8

Slide Number 9

Slide Number 10

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Slide Number 25

Slide Number 26

Slide Number 27

Slide Number 28

Slide Number 29

Slide Number 30

Slide Number 31

Slide Number 32

Slide Number 33

Slide Number 34

Slide Number 35




bull What is torque

τ = F ∙ a

a

m

F = m ∙ g











Torque

Speed [rpm]


vmotor = 6V


Robot speed

Driving a DC motor

Driving a DC motor


not enough

Driving a DC motor


Driving a DC motor


Driving a DC motor


Driving a DC motor


ldquoMotorrdquo


Driving a DC motor



Slide Number 1

Slide Number 2

Slide Number 3

Slide Number 4

Slide Number 5

Slide Number 6

Slide Number 7

Slide Number 8

Slide Number 9

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Slide Number 26

Slide Number 27

Slide Number 28

Slide Number 29

Slide Number 30

Slide Number 31

Slide Number 32

Slide Number 33

Slide Number 34

Slide Number 35






Torque

Speed [rpm]


vmotor = 6V


Robot speed

Driving a DC motor

Driving a DC motor


not enough

Driving a DC motor


Driving a DC motor


Driving a DC motor


Driving a DC motor


ldquoMotorrdquo


Driving a DC motor



Slide Number 1

Slide Number 2

Slide Number 3

Slide Number 4

Slide Number 5

Slide Number 6

Slide Number 7

Slide Number 8

Slide Number 9

Slide Number 10

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Slide Number 26

Slide Number 27

Slide Number 28

Slide Number 29

Slide Number 30

Slide Number 31

Slide Number 32

Slide Number 33

Slide Number 34

Slide Number 35

Driving a DC motor

Driving a DC motor


not enough

Driving a DC motor


Driving a DC motor


Driving a DC motor


Driving a DC motor


ldquoMotorrdquo


Driving a DC motor



Slide Number 1

Slide Number 2

Slide Number 3

Slide Number 4

Slide Number 5

Slide Number 6

Slide Number 7

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Slide Number 32

Slide Number 33

Slide Number 34

Slide Number 35

Driving a DC motor


not enough

Driving a DC motor


Driving a DC motor


Driving a DC motor


Driving a DC motor


ldquoMotorrdquo


Driving a DC motor



Slide Number 1

Slide Number 2

Slide Number 3

Slide Number 4

Slide Number 5

Slide Number 6

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Slide Number 29

Slide Number 30

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Slide Number 32

Slide Number 33

Slide Number 34

Slide Number 35

Driving a DC motor


Driving a DC motor


Driving a DC motor


Driving a DC motor


ldquoMotorrdquo


Driving a DC motor



Slide Number 1

Slide Number 2

Slide Number 3

Slide Number 4

Slide Number 5

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Slide Number 33

Slide Number 34

Slide Number 35

Driving a DC motor


Driving a DC motor


Driving a DC motor


ldquoMotorrdquo


Driving a DC motor



Slide Number 1

Slide Number 2

Slide Number 3

Slide Number 4

Slide Number 5

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Slide Number 35

Driving a DC motor


Driving a DC motor


ldquoMotorrdquo


Driving a DC motor



Slide Number 1

Slide Number 2

Slide Number 3

Slide Number 4

Slide Number 5

Slide Number 6

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Slide Number 35

Driving a DC motor


ldquoMotorrdquo


Driving a DC motor



Slide Number 1

Slide Number 2

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Driving a DC motor



Slide Number 1

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ece 3400 intelligent physical systems

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