TAILIEUCHUNG - Robotics 2 E Part 6

Tham khảo tài liệu 'robotics 2 e part 6', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | FIGURE Layout of Fujitsu hydraulic pulse motor-stepmotor combination with a hydraulic servomotor a General view of the device b Leftward movement of the valve s piston c Cross section of the oil distributor. above description responds to each pulse or step of electric motor 17 by a step or pulse of the hydraulic motor. However the power of stepping motors is usually modest making them unsuitable for heavy-duty work while hydraulic motors can develop practically unlimited power and torque. Another electromechanical amplifier is presented in Figure . It consists of two drums 1 and 2 freely rotating around shafts 3 and 4 respectively. The drums are permanently driven by electromotors 5 and 6 which rotate the drums in opposite directions. Shafts 3 and 4 are specially shaped and connected by means of elastic metallic ribbons 7 and 8 wound around the drums in opposite directions. One of the shafts say 3 is designed to be the input. When rotated in a given direction say clockwise it causes ribbon 7 to stretch around drum 1 resulting in a high frictional torque. Thus drum 1 acts as a friction clutch connecting motor 5 with ribbon 7 and shaft 4 the driven shaft . This torque can be much larger than that of shaft 3. When the motion at the input is counter-clockwise the action develops in the following manner. Shaft 3 stretches ribbon 8 around drum 2 connecting motor 6 by friction with output shaft 4. The torque created between the ribbons and the corresponding drums can be estimated by the Euler formula ĩ0 tput Tinpute . Master Controller Amplifiers 141 5 1 7 8 2 6 FIGURE Electromechanical amplifier. Here output Tnput output input torques respectively f frictional coefficient describing the friction between the ribbons and drum surfaces Ộ the wrapping angle of the ribbon around the drums and e natural logarithm base. The following example seems to be of great technical and educational importance. On the one hand it is the first known technical .

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