mech

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Mechanical Designs and
Motors
Robotics
Mechanical aspects
Actuators
Motors (DC Motors,
Servo, Stepper,
Encoder)
Hydraulics
Electronic aspects
Basic structure
Pneumatics
Mechanisms
Microcontroller(Arduino)
Motor drivers(L293,
L298, MOSFET)
Remote control
(PS2, DPDT
switches)
An actuator is a type of motor for moving or controlling a mechanism or
system. It is operated by a source of energy.
Types of actuators:
 Electric motors
•
•
•
•


DC motor,
Servos,
Stepper,
Encoder
Pneumatics
Hydraulics





These are simple motors used for simple
purpose.
Speed can be reduced by reducing the
voltage supplied, however that’s not an
efficient way of doing things.
Torque and speed are inversely
proportional. Generally a 100rpm – 300rpm
motor is used as the wheels of a robot .
Never apply voltage more than applied
voltage.
Rated voltage is generally 6V, 12V or 24 V
Rigid bodies connected by joints in order to accomplish a desired
force and/or motion transmission constitute a mechanism.

Gripping mechanism,
• Hands of a robot is referred to gripper.

Lifting mechanism
• Will be used to lift the gripper.

Rotation to linear motion
◦ Rack and pinion
◦ Power screw
◦ Conveyer belt

Rotation to rotation motion
◦ Gears(spur, bevel, worm etc.)
Rack and pinion
Power screw
Conveyer belt
Spur gear
Bevel gear
Worm gear

4-Bar mechanism:
◦ Ends stay Parallel.
◦ Good
◦ Universal

Roller gripper:
◦ Slow,
◦ Simple,
◦ Misalignment problem


Slow
Self Locking.




Pulleys
Sliders
4-Bar linkage mechanism
Scissor mechanism
They move
linear
Combine
pulley and
sliders for
lifting
Parallelogram mechanism.
Object moves parallel.
Omni wheel
ATV wheel
Wheels for
plastic shaft motor
Mecannum wheel
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