Electric Motors

for

Robotics
Munindar Kumar
Sunil Choudhary
Narendra K. Meena

Factors to choose right kind of

motor
speed (RPM),
torque,
direction,
Control and accuracy
Each motor type has several advantages as well as disadvantages
depending on a particular robots design.
all motors are available in different sizes.

Direction (H-Bridge)

Uni-directional, and Bi-directional

An H bridge is an electronic circuit that

enables a voltage to be applied across a
load in either direction.

to allow DC motors to run forwards and

backwards.

In particular, a bipolar stepper motor is

almost invariably driven by a motor
controller containing two H bridges.

Most DC-to-AC converters (power

inverters), most AC/AC converters, the DCto-DC pushpull converter, most motor
controllers, and many other kinds of power
electronics use H bridges.

Torque (Kgcm)

stall and operating torque (max and minimum)

More voltage, higher the torque.

torque ratings can change depending on the voltage applied. So if you

need a little more torque to crush that cute kitten, going 20% above the
rated motor voltage value is fairly safe (for you, not the kitten). Just
remember that this is less efficient, and that you should heat sink your
motor.

Most efficient at rated voltage

Typical DC motors are rated from about 6V-12V. The larger ones are
often 24V or more.

When buying a motor, there are two current ratings you should pay
attention to. The first isoperating current (average current, typical
torque). The other is thestall current (max current, limiting torque).

Speed (PWM)

Rotations per minute(rpm)

try to slow down a motor by reducing its voltage with a variable resistor or
other ways will not work well, because it will not only reduce the motor's
speed, it will also reduce a motor's strength, while also consuming a lot of
electricity as large amounts of heat are generated by the resistor.

A far better way is to use a PWM (Pulse-width modulation) device.

Microcontroller

Motor
Driver

Motor

Contains H-Bridge

How Motor is Controlled ?

Direction, Speed

DC Motors
(mostly used in robotics)

Brushed DC Motors

simply DC motor
uses brushes to detect the change
in orientation so that it can flip the
current to continue the rotors
rotation.
different sizes and at different
speeds.
generally useless in robots as they
produce the slightest torque.
have two wires; ground and power.

Geared DC Motor
DC motors provide good speeds
without enough torque.To
Overcome this DC motors are
often coupled with gears which
provide greater torque, but
reducing speed.
Normally all our robots would
require a geared DC motor to pull
the weight of our robot and any
additional components placed.
the rotations per minute of Gear1
is lesser than the motor. Gear2
has even less number of
rotations per minute.
each gear increases the torque of
overall setup.

Brushless DC Motor
(BLDC)
In a BLDC, the rotor is made of
permanent magnet and the
stator is made of electromagnet.
To detect a change in orientation,
brushless motors generally use
Hall Effect sensors to detect the
rotors magnetic field and
consecutively its orientation.
Brushless motors are very useful
in robots as they are more
capable; they provide enough
torque, and greater speeds than
brushed motors.
expensive due to their design
complexity and need a controller
to control their speed and
rotation.

Servo Motors (RC

servo motors)
DC motors coupled with a feedback control
circuitry, a gear system to increase torque
and a position sensing device (usually a
potentiometer).
When a signal (pulse) is sent, it moves the
motor shaft to a desired position using the
position feedback from a potentiometer.
do not exhibit continuous rotation
(generally 200 back and forth) and
requires modifification for continuous
Controlling a servo is done with
Pulse-width modulation . The length of the
pulse is relative to the position the servo
will turn to.
wide range of applications in robotics, but
require a bit of shrewd programming to
make it work.
have three wires; Ground, Power and
Control pulse (control signal).
e.g. to move a sensor around, or to move
the legs of a robot.

Stepper Motor
brushless motors which divides the
rotors rotation into discrete
number of steps
breaks it into steps per revolution
and jumps each step for a certain
pulse.
Unlike a servo motor, stepper motor
does not require any complex
position feedback mechanism
stepper motors are similar to
brushed DC motors with less
torque.
Based on the arrangement of
windings inside a stepper motor, it
can be classified as Unipolar or
Bipolar step motor.
Four wires

Linear DC Motors

Not likely to be used in standard

mobile robots, a linear DC motor
is a normal DC motor with its
stator spread out.

AC Motors
There are several different types of AC-motors, but their use is limited to high power stationary
industrial robots. They are harder to use than DC-motors.
won't use AC motors unless your robot is stationary
Modifying the AC frequency can alter speed and torque
AC Servomotor, AC Stepper Motor

BIBLIOGRAPHY

www.societyofrobots.com

http://www.robotplatform.com/knowledge/actuators/dc_motors.html

Wikipedia, the free encyclopedia

EE201: ElectroMechanics
Seminar May 30,2015
Instructed By: Dr.Bhakti Joshi
Electric Motors for Robotics

Munindar Kumar

B13216

Narendra K. Meena

B13217

Sunil Choudhary

B13233