sensors, actuators, and end...
TRANSCRIPT
Sensors, Actuators, and End EffectorsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Sensors, Actuators, and End Effectors
• Sensors• Actuators
– Taxonomy of Prime Movers– Types of Electric Motors– Brakes– Transmissions– Bearings
• End Effectors
1
© 2009 David L. Akin - All rights reservedhttp://spacecraft.ssl.umd.edu
Sensors, Actuators, and End EffectorsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Sensor Taxonomy
• Proprioceptive sensors– Rotary and linear position– Velocity and acceleration– Temperature
• Exterioceptive sensors– Vision– Active scanning (sonar/lidar/radar)– Proximity
2
Sensors, Actuators, and End EffectorsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Sensor Guidelines for Flight Systems
• Instrument every flight-critical activity• Provide sufficient sensor redundancy to
differentiate between sensor failure and system failure– Redundant sensors– Reinforcing sensors
• Interrogate sensors well beyond Shannon’s limit
3
Sensors, Actuators, and End EffectorsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Rotary Binary Encoder
4
Sensors, Actuators, and End EffectorsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Binary Absolute Position Encoders
5
Sensors, Actuators, and End EffectorsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Gray Code Absolute Position Encoders
6
Sensors, Actuators, and End EffectorsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Quadrature Incremental Encoder
7
Sensors, Actuators, and End EffectorsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Quadrature Direction Sensing
8
Sensors, Actuators, and End EffectorsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Linear Variable Displacement Transformer
9
Sensors, Actuators, and End EffectorsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Prime Mover Taxonomy
• Electrical– Direct Current– Alternating Current
• Non-Electrical– Hydraulics– Pneumatics– Chemical– Thermal– Stored Energy
10
Sensors, Actuators, and End EffectorsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
DC Brushed Motor Schematic
11
Sensors, Actuators, and End EffectorsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
DC Brushed vs. Brushless Motors
12
Sensors, Actuators, and End EffectorsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
DC Brushless Motor Schematic
13
Sensors, Actuators, and End EffectorsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Stepper Motor Schematic
14
Sensors, Actuators, and End EffectorsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Standard DC Motor Characteristics
15
Sensors, Actuators, and End EffectorsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
DC Motor Power and Efficiency
16
Sensors, Actuators, and End EffectorsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Speed as a Function of Torque
17
Sensors, Actuators, and End EffectorsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Standard Motor Specifications
18
Sensors, Actuators, and End EffectorsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Typical DC Motor Specification
19
Sensors, Actuators, and End EffectorsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Basic Gear Parameters
20
Sensors, Actuators, and End EffectorsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Gear Forms
21
Sensors, Actuators, and End EffectorsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Types of Bearings
22
Sensors, Actuators, and End EffectorsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Ideal Bearing Applications
23
Sensors, Actuators, and End EffectorsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Barrett Hand
24
Sensors, Actuators, and End EffectorsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Salisbury Hand
25
Sensors, Actuators, and End EffectorsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Utah/MIT Hand
26
Sensors, Actuators, and End EffectorsENAE 483/788D - Principles of Space Systems Design
U N I V E R S I T Y O FMARYLAND
Robonaut Hands
27