Robots & Automation – MFET 445

Robots & CNC in Integrated

Manufacturing – MFET 685
 Agenda
• Electromechanical Systems
• motors
• Linear motion
• Bearings
• Position Feedback
• Power controls

2
 Motors
Electric motors
 Motors
Electric motors
 Motors
Electric motors
 Motors
Permanent magnet DC motors
 Motors https://www.youtube.com/watch?v=OpL0joqJmqY

DC motors 11:06

Permanent magnet

S N
 Motors
Permanent magnet DC motors

• Permanent magnets = cheaper to manufacture • Speed control not simple

• Simple construction
• Efficient
• Small in size
• Reversible
 Motors
DC motors This motor will also run on AC power!
Hence, “universal motor”
Series wound
 Motors
DC motors • Runs on AC or DC
• High starting torque
Series wound

• Under zero load, speed may become dangerously high

• Not reversible
 Motors
DC motors

Shunt wound
 Motors
DC motors • Constant speed

Shunt wound

• High starting current

 Motors
DC motors

Compound wound
 Motors
DC motors

Compound wound
 Motors
DC motors • Can tailor motor characteristics
• If you want series characteristics but load might be removed
Compound wound
 Motors
DC motors speed control – Series motor
 Motors
DC motors speed control – shunt motor
 Motors
DC motors speed control – Pulse Width Modulation
 Motors
DC motors speed control – Pulse Width Modulation
Motors
AC motors – 3 phase
 Motors
AC motors – 3 phase

“Squirrel Cage”
Motors
AC motors – 3 phase
Motors https://www.youtube.com/watch?v=LtJoJBUSe28
Motors
Single-phase AC motor
Motors
AC Motors
3-phase can be easily reversed by switching any 2 phases

Speed is determined by AC frequency and number of poles in motor

2 poles at 60 Hz = 60 sec-1*60 sec/min = 3600 RPM

4 poles at 60 Hz = [60 sec-1*60 sec/min]/2 = 1800 RPM

12 poles at 60 Hz = [60 sec-1*60 sec/min]/6 = 600 RPM

AC Motors
Variable Frequency Drive
AC Motors
Variable Frequency Drive
DC Motors
Brushless DC motor
DC Motors
Brushless DC motor
Stepper Motors
Stepper Motors
Stepper Motors

https://www.youtube.com/watch?v=eyqwLiowZiU
Stepper Motors
Stepper Motors
Stepper Motors
 Stepper Motors
Stepper motor microstep
 Linear Motion Systems
https://www.youtube.com/w
Many automation tasks require a linear actuator of some type atch?v=4TOotC_Q3sU
Linear Motion Systems
Threaded rods – turn rod, and nut will move along rod (if not allowed to rotate)
Linear Motion Systems
Generally linear motion screws have ACME profile
Linear Motion Systems
Generally linear motion screws have ACME profile
Linear Motion Systems
Backlash or “lost motion”
Linear Motion Systems
Backlash or “lost motion”
Linear Motion Systems
Backlash or “lost motion”
Linear Motion Systems
Backlash reduction nut
Linear Motion Systems

Precision Acme threaded rod

from McMaster-Carr

Accuracy 0.009” per foot

Linear Motion Systems
Multi-start Acme screw
Faster motion for same RPM
Linear Motion Systems
https://www.youtube.com/watch?v=kl6qNn9-nkk
Ballscrew
 Linear Motion Systems
Ballscrew
Grades
Linear Motion Systems https://us.misumi-
ec.com/maker/misumi/mech/pr
oduct/bs/choice/choice06.html
Linear Motion Systems
http://www.mcmaster.com/#standard-
shaft-couplings/=14jxfn4
Linear Motion Systems
http://www.gates.com/~/media/files/
gates/industrial/power-
Synchronous Belt Drive transmission/manuals/polychaingtca
rbondrivedesignmanual.pdf
Linear Motion Systems
 Linear Motion Systems
https://www.youtube.com/watch?v=trTYfp_GQC0
Linear motor https://www.youtube.com/watch?v=cZViuZu51lM
Linear Motion Systems
ASML stepper

2-axis servo linear motor

Accuracy <0.01 micron

Position Feedback

Controlled
Energy Source Control System
Element

Reference
Comparator
Source
Optical Detector
Optical Detector
Optical Chopper
Quadrature Encoder
Quadrature Encoder
A

B
Quadrature Encoder
Quadrature Encoder

“Home Position” signal I

Quadrature Encoder
“Absolute” Encoder
• 8-bit resolution
• 256 resolvable positions
Linear Quadrature Encoder
Absolute Linear Quadrature Encoder
“Glass Scale”
Magnetic Encoder
Magnetic Encoder
Optical Interferometer
 Optical Interferometer

https://www.youtube.com/
watch?v=j-u3IEgcTiQ
Optical Interferometer
Optical Interferometer
Power Controls

• Relays
• Solid State Devices
Relays
Relays
Relays
Relays
Relays
Relays
Relays
Relays
Relays
EMO system
Transistors
Transistors

https://www.youtube.com/watch?v=7ukDKVHnac4
Transistors
Transistors
Transistors
Transistors
Transistors

E
t
Transistors
Transistors
Silicon Controlled Rectifier
Silicon Controlled Rectifier
TRIAC
TRIAC
TRIAC
TRIAC
TRIAC
Solid State relay
Solid State relay