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Motor and Motion Control Systems
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Introduction Merits of Electric Systems Motion Control Classification Closed-Loop System Trapezoidal Velocity Profile Closed-Loop Control Techniques Open-Loop Motion Control Systems Kinds of Controlled Motion Motion Interpolation Computer-Aided Emulation Mechanical Components Electronic System Components Motor Selection Motor Drivers (Amplifiers) Feedback Sensors Installation and Operation of the System Servomotors, Stepper Motors, and Actuators for Motion Control Permanent-Magnet DC Servomotors Brush-Type PM DC Servomotors Disk-Type PM DC Motors Cup- or Shell-Type PM DC Motors Position Sensing in Brushless Motors Brushless Motor Advantages Brushless DC Motor Disadvantages Characteristics of Brushless Rotary Servomotors Linear Servomotors
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Commutation Installation of Linear Motors Advantages of Linear vs. Rotary Servomotors Coil Assembly Heat Dissipation Stepper Motors Permanent-Magnet (PM) Stepper Motors Variable Reluctance Stepper Motors Hybrid Stepper Motors Stepper Motor Applications DC and AC Motor Linear Actuators Stepper-Motor Based Linear Actuators Servosystem Feedback Sensors Rotary Encoders Incremental Encoders Absolute Encoders Linear Encoders Magnetic Encoders Resolvers Tachometers Linear Variable Differential Transformers (LVDTs) Linear Velocity Transducers (LVTs) Angular Displacement Transducers (ATDs) Inductosyns Laser Interferometers Precision Multiturn Potentiometers Solenoids and Their Applications Solenoids: An Economical Choice for Linear or Rotary Motion Technical Considerations Open-Frame Solenoids C-Frame Solenoids Box-Frame Solenoids Tubular Solenoids Rotary Solenoids Rotary Actuators Actuator Count Debugging Reliability Cost
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Contents
Flat Belts O-Ring Belts V-Belts Timing Belts Smoother Drive Without Gears Plastic-and-Cable Chain Chain Ladder Chain Roller Chain Rack and Pinion Chain Drive Timing or Silent Chain Friction Drives Cone Drive Needs No Gears Or Pulleys Gears Gear Terminology Gear Dynamics Terminology Gear Classification Worm Gears Worm Gear with Hydrostatic Engagement Controlled Differential Drives Twin-Motor Planetary Gears Provide Safety Plus Dual-Speed Harmonic-Drive Speed Reducers Advantages and Disadvantages Flexible Face-Gears Make Efficient High-Reduction Drives High-Speed Gearheads Improve Small Servo Performance Simplify the Mounting Cost-Effective Addition
73 73 73 75 76 77 79 80 80 82 82 83 84 85 87 88 88 90 90 93 95 96 99 100 102 102 104
3
Direct Power Transfer Devices
107 109 110 114 114 115 117 118 118 120 121 121 125
Couplings Methods for Coupling Rotating Shafts Ten Universal Shaft Couplings Hooke s Joints Constant-Velocity Couplings Coupling of Parallel Shafts Ten Different Splined Connections Cylindrical Splines Face Splines Torque Limiters Ten Torque-Limiters One Time Use Torque Limiting
viii
Contents
4
Wheeled Vehicle Suspensions and Drivetrains
127 130 130 131 134 136 141 144 150 155
Wheeled Mobility Systems Why Not Springs Shifting the Center of Gravity Wheel Size Three-Wheeled Layouts Four-Wheeled Layouts All-Terrain Vehicle with Self-Righting and Pose Control Six-Wheeled Layouts Eight-Wheeled Layouts
5
Tracked Vehicle Suspensions and Drive Trains 161
167 168 171 174 178 178 179 180 181 184
Steering Tracked Vehicles Various Track Construction Methods Track Shapes Track Suspension Systems Track System Layouts One-Track Drive Train Two-Tracked Drive Trains Two-Tracked Drive Trains with Separate Steering Systems Four-Tracked Drive Trains Six-Tracked Drive Trains
6
Steering History
187 190 193
Steering Basics The Next Step Up
7
Walkers
199 202 203 208 208 208 211 214 214
Leg Actuators Leg Geometries Walking Techniques Wave Walking Independent Leg Walking Frame Walking Roller-Walkers Flexible Legs
Contents
8
Pipe Crawlers and Other Special Cases
217 220 221 222 223 224 224 226 226
Horizontal Crawlers Vertical Crawlers Traction Techniques for Vertical Pipe Crawlers Wheeled Vertical Pipe Crawlers Tracked Crawlers Other Pipe Crawlers External Pipe Vehicles Snakes
9
Comparing Locomotion Methods
227 229 229 230 231 232 232 233 233 234 235 235 236 236 237
What Is Mobility The Mobility System Size Efficiency The Environment Thermal Ground Cover Topography Obstacles Complexity Speed and Cost The Mobility Index Comparison Method The Practical Method Explain All This Using the Algebraic Method
10
Manipulator Geometries
239 241 243 243 245 246 247 248 250 252 255 256
Positioning, Orienting, How Many Degrees of Freedom E-Chain Slider Crank Arm Geometries Cartesian or Rectangular Cylindrical Polar or Spherical The Wrist Grippers Passive Parallel Jaw Using Cross Tie Passive Capture Joint with Three Degrees of Freedom
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