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Movement and drive systems
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Nitinol Wire Actuator
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4.2 DC power to nitinol wire
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for an extended period of time can damage the wire due to uneven ohmic heating. Proportional control and steady-state contraction of the material (without damage) can be achieved using a pulse-width modulation (PWM) circuit to supply the electric current. Some robotists have used nitinol wire to create a motorless hexapod walking robot. While the robot can walk, it does so exceedingly slowly due to the time required for cycling (heating and cooling) of the nitinol material. The hexapod walker robot is truly a flyweight (a few ounces at most) robot, neither structurally strong nor powerful enough to carry its own power supply. While nitinol may be impractical for use in a hexapod walker, it is appropriate for many other robotic applications. To learn more about the capabilities of this remarkable material, let s look at a few commercial products that utilize the contractile ability of the material. Figure 4.3 shows a mechanical butterfly. Nitinol wire adds movement to the wings. The butterfly may be connected to a solar engine (see Chap. 3) for power to create an interesting robotic application. Figure 4.4 shows a rocker ball demonstration device. The nitinol actuator operates about 20,000 cycles per day and will last for years. Nitinol wire loops can be used to produce rotary motion. Figure 4.5 illustrates a simple heat engine. The nitinol loop is guided by a groove in each wheel. The smaller wheel is made of brass for good heat conduction. When the smaller wheel is placed in hot water, the wheels begin to spin. The heat engine can also function using solar energy. Focusing sunlight from a 3 magnifying glass onto the brass wheel will also activate the engine. Nitinol can also be used to physically close mechanical push-button switches, as an actuator in production of lightweight air valves, and in many other linear-motion applications.
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4.3 Nitinol butterfly
4.4 Rocker ball demo
Solenoids
Solenoids are electromechanical devices. A typical solenoid consists of a coil of wire that has a metal plunger through its center. When energized, the coil creates a magnetic field that either pulls or pushes the metal plunger (see Fig. 4.6). The metal plunger is mechanically connected to the robotic device that needs movement.
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Movement and drive systems
4.5 Heat engine
4.6 Solenoid
Rotary solenoids
A rotary solenoid is a derivative of the standard solenoid (see Fig. 4.7). Instead of producing a linear motion, it produces a rotary motion. A rotary solenoid can be used to create a robotic fish (see Chap. 13).
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4.7 Rotary solenoid
4.8A Stepper motor
Stepper motors
Stepper motors may be used for locomotion, movement, steering, and positioning control. These motors are used as integrated components in many commercial and industrial computer-controlled applications. For home personal computer (PC) users, stepper motors can be found in disk drives and printers. Stepper motors are unique because they can be controlled using digital circuits. They are capable of precise incremental shaft rotation. This makes stepper motors ideal for rotary or linear positioning. Because stepper motors are widely used in industry, they come in a variety of shapes, sizes, and specifications (see Fig. 4.8A).
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Movement and drive systems
When power is applied to a standard electric motor, the rotor begins turning smoothly. The speed and position of the motor s rotor are a function of voltage, load on the motor, and time. Precise positioning of the rotor is not possible. A stepper motor, however, runs on a sequence of electric pulses to the windings of the motor. Each pulse to a winding turns the rotor by a precise predetermined amount. The incremental movements of the rotor are often called steps. Hence the name, stepper motors. Not all stepper motors rotate the shaft (rotor) by the same amount per step. They are manufactured with different degrees of rotation per step (or pulse). The optimum degrees per step will depend upon the particular application. Stepper motor specifications clearly state the degree of rotation per step. You can find a variety of stepper motors, with the range of rotation per step varying from a fraction of a degree (i.e., 0.72 degree) to many degrees (i.e., 22.5 degrees).
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