How should the mobile robot choose the appropri♠£∞ate driving motor?
Date：May 17th,2023
In a mobile robot, the funδ™ction of the driving motor is t∑δo convert the electric energy into<< the angular displacement, angular¥α×Ω speed or torque of the mo₹tor shaft under the action of tβ&he control signal (such as voltage, current, puls>£≥§e, etc.). The structure of drive <₩↓motor generally includes: chassis,¥↓ shell, front and rear end cover, stator compon<Ω©≥ents, rotor components, core, insulσ≠≤ation winding, motor shaft, bearing, c§↑>ommutator, encoder, lock device, etc ¶Ω. Mobile robots commonly used drive motors ↓✘γεmainly include: DC servo motor, AC servo motor"®φ↕, stepping motor. Below, for you one ∏ ×by one in detail:
1. DC servo motor
DC servo motor uses DC power supply, inc ✔luding: ordinary DC servo ♣×₩motor, disk armature DC servo moto♠σr, hollow cup armature DC serv¶π£♥o motor, no slot armature direct c≥→ε₹urrent servo motor, DC torque motor, etc.
The basic working principle of DC servo motorδ>φ& is exactly the same as that of ordinary DC ∑↕≠®motor, that is, the electromagnetic torquε€e is generated through the action ofΩ•& armature current and air gap magneti λφ÷c flux, so that the stator of D"≥÷≈C servo motor rotates. The DC serv®↕£≤o motor usually adopts the arm®→ature control method, that i↕γβ←s, adjust the speed by changing the &★armature voltage while keeping€•≥ the excitation voltage unchanged: the lower the ≥♦≤armature voltage, the lower t→he speed; when the armature voltage ↑©©is zero, the motor stops.
Mobile robots generally ca✔∏∞®rry their own batteries, so ↑♥≤the drive motor is also mainly DC servo↔≠ motor. When the voltage of the DC servo motor i©≤s not consistent with the battery voltage,®®♠ the power conversion module (DC-DC) is n×eeded to achieve the adaptation between the two.♥☆¶
1. Ordinary DC servo motor
The stator of ordinary DC servo moto♦¶★r is electromagnetic or permanent magnet typ↕≥↑÷e, and the rotor is composed of i♥γ≠ron core with groove and a♥±λrmature winding embedded in the groove. The ✘>↓ordinary DC servo motor has strong lo≈♦←ad capacity and large blockin<€•♠g torque, but due to the complex rotor sα₽∑$tructure and large volume, theφ $ mechanical inertia of the motor is large, the opγ♦eration stability at low speed is poor, an©™d the control dead area is lar∞<ge.
2. Plate armature DC servo mo♠₩"tor
The stator of the disk armat£ €αure direct current servo motor i•≠ <s permanent magnet type, the rot₽★or is a disk structure, the armatu'σ¥re wire winding type (wire winding disk <type) and printed circuit ™£πtype (printed disk type). £ &→The motor has a simple structure, sma₩Ω×ll volume, light rotor weigh♦≤ε¶t, and the mechanical inertia of the rotor ←> is small, but the blocking torque is sma ™•ll. The capacity of winding↓↕σ↔ coil motor can reach several ★σkilowatts, and the capacity of prinΩγted coil is smaller.
3. Hollow cup armature direct current servo moto≠λ ≈r
The stator of the hollow cup armature direct c$δεεurrent servo motor is of permanent magnetαλ≈$ type. The rotor takes a hollow cup conf δ"iguration as the skeleton, and the armature wΩ¥€inding is placed (or printed) on the c$∞αup wall. Its armature wind✔↕≥ing can be a winding winding or a printed wind£"✘₽ing. This servo motor is famous for ®→its very small mechanical inertia, high cont§♣δrol sensitivity, almost no coβ×ntrol dead area, its volume≈≥π can be done very small an £<d light weight. But the blocking torque is→→> small, its current capacity can not be done v₹ ¶ery large, is a kind of miniature s↕ βγervo motor.
4. No less armature DC servo ∞∑σmotor
The only difference between the arma✔€ ture DC servo motor and the ordinary DC± servo motor is that its ro₽tor core is not slot, and the®'€ε armature winding fixed adhesive is glued to the"®♥ surface of the armature. This k'π$→ind of servo motor has a large load capacity,✘→ a large blocking torque, ≥•the motor capacity can be done is relatively γ large, and the low speed stability is good.
5. DC torque motor
DC torque
1. DC servo motor
DC servo motor uses DC power supply, inc ✔luding: ordinary DC servo ♣×₩motor, disk armature DC servo moto♠σr, hollow cup armature DC serv¶π£♥o motor, no slot armature direct c≥→ε₹urrent servo motor, DC torque motor, etc.
The basic working principle of DC servo motorδ>φ& is exactly the same as that of ordinary DC ∑↕≠®motor, that is, the electromagnetic torquε€e is generated through the action ofΩ•& armature current and air gap magneti λφ÷c flux, so that the stator of D"≥÷≈C servo motor rotates. The DC serv®↕£≤o motor usually adopts the arm®→ature control method, that i↕γβ←s, adjust the speed by changing the &★armature voltage while keeping€•≥ the excitation voltage unchanged: the lower the ≥♦≤armature voltage, the lower t→he speed; when the armature voltage ↑©©is zero, the motor stops.
Mobile robots generally ca✔∏∞®rry their own batteries, so ↑♥≤the drive motor is also mainly DC servo↔≠ motor. When the voltage of the DC servo motor i©≤s not consistent with the battery voltage,®®♠ the power conversion module (DC-DC) is n×eeded to achieve the adaptation between the two.♥☆¶
1. Ordinary DC servo motor
The stator of ordinary DC servo moto♦¶★r is electromagnetic or permanent magnet typ↕≥↑÷e, and the rotor is composed of i♥γ≠ron core with groove and a♥±λrmature winding embedded in the groove. The ✘>↓ordinary DC servo motor has strong lo≈♦←ad capacity and large blockin<€•♠g torque, but due to the complex rotor sα₽∑$tructure and large volume, theφ $ mechanical inertia of the motor is large, the opγ♦eration stability at low speed is poor, an©™d the control dead area is lar∞<ge.
2. Plate armature DC servo mo♠₩"tor
The stator of the disk armat£ €αure direct current servo motor i•≠ <s permanent magnet type, the rot₽★or is a disk structure, the armatu'σ¥re wire winding type (wire winding disk <type) and printed circuit ™£πtype (printed disk type). £ &→The motor has a simple structure, sma₩Ω×ll volume, light rotor weigh♦≤ε¶t, and the mechanical inertia of the rotor ←> is small, but the blocking torque is sma ™•ll. The capacity of winding↓↕σ↔ coil motor can reach several ★σkilowatts, and the capacity of prinΩγted coil is smaller.
3. Hollow cup armature direct current servo moto≠λ ≈r
The stator of the hollow cup armature direct c$δεεurrent servo motor is of permanent magnetαλ≈$ type. The rotor takes a hollow cup conf δ"iguration as the skeleton, and the armature wΩ¥€inding is placed (or printed) on the c$∞αup wall. Its armature wind✔↕≥ing can be a winding winding or a printed wind£"✘₽ing. This servo motor is famous for ®→its very small mechanical inertia, high cont§♣δrol sensitivity, almost no coβ×ntrol dead area, its volume≈≥π can be done very small an £<d light weight. But the blocking torque is→→> small, its current capacity can not be done v₹ ¶ery large, is a kind of miniature s↕ βγervo motor.
4. No less armature DC servo ∞∑σmotor
The only difference between the arma✔€ ture DC servo motor and the ordinary DC± servo motor is that its ro₽tor core is not slot, and the®'€ε armature winding fixed adhesive is glued to the"®♥ surface of the armature. This k'π$→ind of servo motor has a large load capacity,✘→ a large blocking torque, ≥•the motor capacity can be done is relatively γ large, and the low speed stability is good.
5. DC torque motor
DC torque