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McGraw-Hill - Robot Mechanisms and Mechanical Devices Illustrated Part 4

Tham khảo tài liệu 'mcgraw-hill - robot mechanisms and mechanical devices illustrated part 4', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Chapter 1 Motor and Motion Control Systems 39 Figure 1-30 Cutaway view of a 5-phase hybrid stepping motor. A permanent magnet is within the rotor assembly and the rotor segments are offset from each other by 3.5 . motor with a multitoothed armature is shown in Figure 1-30. The armature is built in two sections with the teeth in the second section offset from those in the first section. These motors also have multitoothed stator poles that are not visible in the figure. Hybrid stepper motors can achieve high stepping rates and they offer high detent torque and excellent dynamic and static torque. Hybrid steppers typically have two windings on each stator pole so that each pole can become either magnetic north or south depending on current flow. A cross-sectional view of a hybrid stepper motor illustrating the multitoothed poles with dual windings per pole and the multitoothed rotor is illustrated in Figure 1-31. The shaft is represented by the central circle in the diagram. The most popular hybrid steppers have 3- and 5-phase wiring and step angles of 1.8 and 3.6 per step. These motors can provide more torque from a given frame size than other stepper types because either all or all but one of the motor windings are energized at every point in the drive cycle. Some 5-phase motors have high resolutions of 0.72 per step 500 steps per revolution . With a compatible controller most PM and hybrid motors can be run in half-steps and some controllers are designed to provide smaller fractional steps or microsteps. Hybrid stepper motors capable of a wide range of torque values are available commercially. This range is achieved by scaling length and diameter dimensions. 40 Chapter 1 Motor and Motion Control Systems Figure 1-31 Cross-section of a hybrid stepping motor showing the segments of the magnetic-core rotor and stator poles with its wiring diagram. Hybrid stepper motors are available in NEMA size 17 to 42 frames and output power can be as high as 1000 W peak. Stepper .