Robots Drive System
Robots Drive System
RO BO T DR IV E SY S1 'E! J
2.1. INTRODUCTION
trolled in orde r for the manipulator
The acti ons of the indi vidual join ts mus t be con
y to move its body, arm , and wrist is
to perf onn a desi red mot ion. The rob ot's cap acit
robot.
prov ided by the driv e syst em used to pow er the
a part icul ar form of drive system.
The join ts are mov ed by actuators pow ered by
electric drive, hydraul ic drive, and
Com mon driv e syst ems used in robotics are
pne uma tic drive.
2.3.2. Actunh,>t o
JVJ,at arc., <n'f11ntm \
,1 A tlh.'ltor h'l\l·tlw, ,, Ith lhl' 1,urnm1issio11 and other ac<..cssories if any is refe
rred ~
a~ n1.·hmhn .
✓ Actuntot~ nt\' thl· dl·, u~c used for converti~g hydraulic, pneumatic and electo.
cncrg) into llll'l' hnnkul energy. 1 he mechanical energy used to get the work done~
. . . .
,~ Actuah,n- pct form tuncl1on Just opposite to that of pump. ·
✓ They can bl' used for lifting, tilting, clamping, opening, closing, metering, mix-1
3Ild mn1ing and for many other operations. ~
Types of Actuators
1. Hydraulic Actuators
2. Pnewnatic Actuators
3. Electrical Actuators
(a) Servomotor; (b) Stepper motor; (c) AC/DC motor
~ - Hydraulic Actuators
✓ Hydraulic actuators transform the hydraulic energy stored in a reservoir ii
mechanical energy by means of suitable pumps.
✓ Hydraulic actuators are also fluid power device for industrial robots ni
utilise high pressure fluid such as oil to transmit forces to the poia i
application desired. Hydraulic actuator as shown in Fig.2.1. -
Four-way
valve
Double acting
cylinder
Hand control
Oil reservoir
shift lever
to pneumatic
✓ Principle •:and working of hydraulic actuation system is similar
the inlet
system, except that instead of air, fluid such as water or oil supplies
ural design
power. Although the working principle remains the same, the struct
vanes.
✓ These devices utilize pressurized fluid to produce linear motio
n and force (or)
rotary motion and torque.
✓ Hydraulic actuators are used in a variety of power transf
er application .
✓ The pressure that is transmitted when a quantity of fluid
such as water (or) oil,
operate
is forced through a comparatively small orifice (or) through tube,
hydraulic
hydraulic actuator. Based on the principle, a handful number of
actuating components are designed.
✓ They are hydraulic accumulator, hydraulic cylinders,
hydraulic flow controls,
pressure
hydraulic motors, hydraulic power units, hydraulic pumps, hydraulic
regulators, rod less hydraulic cylinder and vacuum pressure regulators.
,u \ \ llnriot
' , h un , t, pl , I''"' N111c t·,11 1 he npplicd to two parts, thereby generating
\,,, \,\ m,,un" in '" n di, l'C't ,onR,
(i ) R n, i, po
t t..' t mt, pe hos n ~i ntdc fluid chnmbc, nml produces unidirectional force.
, 1!h dmulic m~tuntor rnn :tlso he designed lo provide rot~1ry movement. TheSe
type of nchm1ors pnn idc torque.
✓ There arc nunn t, pcs as for as design is concerned, but importantly rack and
pini'-m tvpc and gear n10tor type actuators are employed m robot application.
They arc specified depending upon the angular rotation and torque involved.
✓ The rack and pinion type system uses rack and pinion mechanism whereas the
gear motor uses gearing mechanisms.
✓ Both types convert flui d power energy to rotary motion of a shaft in order ro
achieve mechanical function such as turning, positioning, steering, opening ~
closing, swinging or any other involving restricted rotation.
Advantages
✓ It has advantage of generating extremely large force from very COD)Ja.1
actuators.
✓ It can also provide precise control at low speeds.
✓ Robust.
✓ Self-lubricating.
✓ Due to the presence of accumulator which act as a storage device, the sysill
can meet sudden demands in power.
✓ t fo mechanical linkage is required.
✓ High efficiency and high power to size ratio.
✓ They g~neraJ ly have a greater load carrying capacity than electric ,,;
pneumatic actuator.
✓ Hydraulic robots are more capable of withstanding shock loads.
Disadvantages
2. Pneumatic Actuators ~
✓ Pneumatic actuators utilise pneumatic energy provided by a compressor and
transforms it into mechanical energy by means of pistons (or) turbines.
✓ Pressurised air is used to transmit and control power.
✓ Pneumatic actuators are the devices that cause things to move by taking the
advantage of potential energy.
Piston Pneumatic cylinder
located
inside cylinder
Double-acting
cylinder
Four-way
Filter Lubricator manually activated Adjustable flow-
control valves
Water drain Regulator control valve (one in each line)
~/ ln operati,m. thl' pistl'll is rigidly 11llnchcd lo lotid rnul can slide inside the
cylinder. ln Yic" t)f tlwir motion, only two lypcs of m tuutor~ such as linear and
angular t) pt.'S nrt' manufol·turl'd, howcvl'I' in some more gcncrali7.cd sense
'
pncmnatk nrtunllW atl' clnssi lied uccording to their mechanical design
paramt'll'r sndl as thl' uumhl:r of ports nnd wuys the piston moves.
✓ rhc lint.'ar nrhhttor ~onv~rts the potential energy in the compressed air into
me~·ha.nical etwrgy in terms of linear motion. The actuator consists of a pistor
,md c~ lindcr. T'hc air enters the actuator and pushes the piston from one end of
the C) linder to the other.
Advantage s of Pneumatic Actuators
v Control is simple.
v \\ nen source of compressed air are readily available, as they often are in
engineering related facilities, pneumatic actuators may be good choice.
✓ It is cheapest form of all actuators.
✓ Pneumatic actuators have a very quick action and response time, thus allowing
for fast work C) cles.
✓ The systems are usually compact.
✓ Individual components can be easily interconnected.
✓ No mechanical transmission is usually required.
✓ Compressed Ju can be stored and conveyed easily over long distance.
Disadvantages
✓ More noise and vibration.
✓ Since air is compressible, pneumatic cylinders are not typically used for
applications requiring accurate motion between two well-defined end points.
✓ Pneumatics are not suitable for heavy loads.
✓ If mechanical stops are used, resetting the system can be slow.
3. Electric Actuators
, flH~ fit st comnw1ri11l f•l~rlt ic111ly dlivc11 ind,rntiinl 10h01 wus introduced in 1974
b, \HH.
, ln the l'l("l'h k S) s tl'lll , n Sl'I vo power 11111plilic1 iR nlso needed to pro 11dc a
c<,mpkk lh.'tnation systt-m.
,, fhl" l\ L\kFR 110 is nn example of clcclric drive rohot, thal is consjstent with
thC~l" lt.'ndcncics.
✓ Electric motors can nlso be used to actuate linear joints (e.g., telescoping arms)
by mc-:.1ns of pulley systems (or) other translational mechanisms.
Flectrical actuotors comprise the following:
I. Drive system: (I) DC motor; (2) AC motor; (3) Stepper motor
2. Switching Device:
(a) Mechanical switch: ( 1) Solenoids, (2) Relays
(b) Solid state switch: (1) Diodes; (2) Thyristor; (3) Transistors
Advantages
✓ Widespread availability of power supply.
✓ High power conversion efficiency.
✓ The basic drive element in an electric motor is usually lighter than that
for fluid
power.
✓ No pollution of working environment.
✓ Being relatively quiet and clean, they are very acceptable environmentally.
✓ They are easily maintained and repaired.
✓ Structural components can be light weight.
✓ The drive system is well suited to electronic control.
Disadvantage•
✓ A larger and heavier motor must be used which is costly.
✓ Poor dynamic response.
✓ Compliance and wear problems are causing inaccuracies.
✓ Conventional gear driven create backlash.
~
1
\ l h \ 1il,
1
IJ 11 ,I
n, ._ " ' c run fmnnnically sate. 'I hey cannot therefore be useo in
~
c spl ohlVt 11111,, ;, p}u; tc, ,
Afll)llootlon
mbl y.
I heir :ippl icntions tcud loward more precise work an asse
1. AC sc, v,,motorn
2. l)r servo nmtors
3. Stepper nwtms )
Table 2~1.
Hydraulic Pneumatic
S.No. Factor EfectricaJ
DC Motor Characteristics
✓ DC Motors arc high-speed, low-torque devices.
✓ Using gears, the high speed of the motor is traded off into torque.
DC Motor Drivers
✓ These are current amplifying circuits.
✓ A low current control signal is converted into a proportionally higher curre-itl
signal that can drive the motor.
Servomechanism
AC or DC motor drives precision equipment in angular increments.
Servo Systems
Change position or speed of mechanical object.
Servomotors
✓ Precise degree of rotary motion
1. Synchronous motors
2. Stepper motors
AC Synchronous Motor
✓ Rotor is a permanent magnet, can reverse direction or stop quickly.
✓ Current drawn is the same when stalled as when operating.
✓ Speed proportional to AC frequency and number of pairs of stator poles.
slit
RoboJ Drfre ~) 'item
Stato \ -...---.-----
Stator B - ~....trtrtrtr+-
Phnse B
Ot-------+------t-----.---- -
Fig. 2.4. Magnetic flux path through a two pole stepper motor with
lag between the rotor and stator
Principle
✓ The shaft or spindle of a stepper motor rotates indiscrete step increments when
electrical command pulses are applied to it in the proper sequence.
✓ The motors rotation has several direct relationships to these applied input
pulses. The sequence of the applied pulses is directly related to the direction of
motor shafts rotation.
✓ The speed of the motor shafts rotation is directly related to the frequency of the
input pulses and the length of rotation is directly related to the number of input
pulses applied.
I
~ \ 'CO Loop Oporation
.. Orn.' of th~ most s1gni ltcnnt advnnlngcs of u steppe, motor is its ability to~
81.'l'UmldY controlled in nn open loop system.
de, ices such as optical encoders. Our position is known simply by keepiri~
track of the input step pulses.
✓ This type of motor consists of a soft iron multi-toothed rotor and a W()IIDi
stator. When the stator windings are energized with DC current the poleS
become magnetized.
✓ Rotation occurs when the rotor teeth are attracted to the energized stator po.it
'
2 13
Robol Drive System
, i h1.. ,,, ,, 1111, ii 111111111011l y 11scd types of stepper motors arc the permanen
H\1\Plh'I 11nd Ihl' hyhiid ty pes.
, l I n ,t,•sig11~1 is not sure which type will best fit his r,ppljcvtions rcquiremen
ht' shtHdd first evaluate the Pt\ 1 type n si t is normally several times le
~~pensive.
✓ If not then the hybrid motor mnybe the right choice. There also excite some
special stepper motor designs. One is the disc magnet motor.
✓ Herc the rotor is designed as a disc with rare earth magnets, See fig. 2.7. n·
motor type hns some advantages such as very low inertia and a optimized
magnetic flow path with no coupling between the two stator v.rindings. These
qualities are essential in some applications.
✓ To get the motor to mlnll' w~ c:111 110w sec that we must provide a se<1uence of
energizing the stnto, wincl1ncs in !;Uch a foshion Hwt pr<,11dcs a rotating
magnetic flux fil'id which the 1oto1 follows due lo m~1gnctic nttr<1ction.
✓ The motors r\.:'sponsc lo digiwl illpul pulses pw vidcs open•loop control, makin,
the motor simpler and less costly to control.
✓ It is possible lo achieve very low speed synchronous rotation with a load that i
directly coupled to the shaft.
✓ A wide range of rotational speeds can be real iY-cd as the speed is proportional to
the frequency of the input pulses.
2.8.3. Advantages
✓ A simple and more reliable motor because the field power supply is not
required.
✓ Higher efficien cy due to the absence of field loss.
✓
✓
Held lln:-.:
.
is less otfcc lcd hy 1,•rr,1'et·•1f .
.... ' , 11rc nsc.
Less hntr11g, making it possihlc lo fol'tlJy enc • ·I t
✓ I\ lag net ic rnatcrin Is Iikc ccram ic and rare earth magnets can be USed ~
overcome these drawbacks, but they arc very expensive.
few kw
✓ Pemrnncnt magnet motors are more economical for power rating upto a
2.8.5. Electromagnetic Field Motors
mic for hiwier
Unlike pennanent magnetic DC motors, there motors are econo
power ratings, above 1 kW. Its salient features as follows:
✓ Number of slots and commutator segments is large to
improve commutation.
ing.
✓ Compoles and compensating windings are provided to eliminate spark
✓ The diameter to length ratio is kept low to reduce inerti
a.
✓ High torque to inertia ratio gives them quick response to control signals.
✓ Low electrical time constant (0.1 to 6 ms) and low mechanical time constant
(2.3 to 40 ms).
2.9. AC SERVOMOTORS
An AC servomotor is basically a two-phase induction motor except for certain
special design features. It differs from the induction motor as foilows.
✓ The rotor of the servomotor is built with high resistance. So that its X/R ratio is
small this results in linear speed characteristics unlike in induction motors.
✓ The excitation voltage applied to two stator windings should have a phase
difference of 90°.
Construction
STATOR
✓ Stator consists of two pole-pairs, such that there axes are at an angle of 90° in
space.
✓ Each pole-pair consists of a winding. One winding is called reference winding
and the other control winding.
✓ To produce a phase difference of 90° between the two winding, a phase
advancing capacitor is used can be of two types.
ROTOR
Rotor construction can be of two types.
2.9.1. Squirrelcage Type
·
In this the rotor is· m•·1d,,.' 0 t· I·t11111· 1101to ··
11s. I he rotor ham arc plnccd on slots and sho
. .
.· . 'f'I1c c1rnmc . . . • rt
c1rcmted at both ends· by c,1d 'mgs tcr of lhc rotor 1s Y(.;.pt sma 1J m order to
. .
rizing
reduce mer tia and lo obtain good accclcruting chnractc
2.9.2. Drag Cap Type
rotor wiJ1 be in the forro <,f
This type is employed for low inertia applications. The
cylinder itself acts as shon
holl ow cylinder made of aluminium. The aluminium
circuited rotor conductors.
Working
✓ Stat or windings are excited by voltages
of equal rms and 90° phase difference
because of which exciting currents are generated.
✓ These currents give rise to a rotating mag
netic field of constant magnitude. The
of the currents .
direction of rotation depends on the phase relationship
✓ The rotating magnetic field sweeps
over the rotor conductors. The rotor
ages are induced in ~
conductors experience a chan ge in flux and so volt
conductors. This voltage hence create a rotor flux.
✓ Due to interaction of stator and rotor flux,
a mechanical force (or torque) is
in the same direction ~
developed on the rotor and so the rotor starts moving
that of rotating magnetic field.
Advantages
no
✓ AC motors cost lower, high er efficiency and less maintenance as there are
commutators and brushes.
Disadvantages
are quite non- line ar and hence
✓ The disadvantage is that the characteristics
control for positioning systems is difficult.
Applications
AC motors are best suited for low power applications
such as:
)
✓ Instrument servo (Example: Control of_pen in x-y recorder
ters etc).
✓ Computer related equipment (Example: Hard disk devices, prin
2.10. COMPARISON BETWEEN AC AND DC SER
VOMOTORS
linear.
2. Characteristic arc linea
r. Characteristics arc non-
y slower
3. Fast response du e to lo
w elec tri cal The response is relativel
e to higher
and mechanical time co
nstant. than DC servomotors du
values of time constants.
applications.
4. Suitable for large pow
er Suitable for low power
application.
RS
PE R M A N EN T M AG NET DC SERVO MOTO
GES O F
2.11. THE ADVANTA
be ca use the field po wer supply is not required.
ble motor
1. A simpler, more relia .
r effic iency du e to the absence of field losses
2. Highe e.
cted by temperature ris
3. Field flux is less affe .
m ak ing it po ss ible to totally enclose the motor
4. Less heating, .
ssibility of ov er sp ee ding due to loss of field
5. No po
Vs speed curve.
6. A more linear torque an d temperature limitations
.
at the sam e dim en sio ns
7. Higher power output
EP PE R M O TO RS AND SERVOMOTORS
BETWEEN ST
2.12. COMPARISON or and servo motor.
be tw ee n stepp er m ot
the comparisons
The Table 2.4 presents
or
parison Betw een Stepper Motor and Servo Mot
Table 2.4. Com
or Servomotor
Steppe r mot
Since the design is very
ssible
Drive circuit Simple. complicated, it is not po
The user can fabricate. to fabricate own driving
circuit.
Very little
Noise and Significant
2.
vibration Faster (3000-5000 rpm
Spjed Slow (l 000-2000 rpm maximum)
3.
maximum)
REVIEW AND SUMMARY
R(lho~ ~~b•e: :he rnhol's capodfy In move ifs body, Hrm, ancl wrist is pro~~
th~ d11H sy~km used tn pn,\l'I the 1(1hot.
Type.Ji of drfre:
I. Fll~l'1l k drive
2. 1h. drautic drive
3. Pncnmntk drivr
Requirement ,~f robot drfre syste111:
1. Accuracy
2. Repeatability
3. Degrees of freedom
4. Mobility
5. Backlash, friction and thermal effects
Actuators:
✓ A motor together with transmission and other accessories if any is referred
to as actuator.
✓ Actuators are the device used for converting hydraulic, pneumatic, am
electrical energy into mechanical energy. The mechanical energy is used to
get the work done.
Types of actuators:
l. Hydraulic actuators
2. Pneumatic actuators
3. Electrical actuators
(a) Servomotor
(b) Stepper motor
.,- - - - - (c)_~C/DC J?10to1~
Types of ltydraulic t1ctuator: - - - - - - - - - - ~ - - ~ -- -
11
3._E xce~ ent response !o s~tarting, stopping and reversing.
_____
I. Gears (i) Spur gear, (ii) Bevel gear, (iii) Helical, (iv) Wonn gear
2. PuJley dri vcs