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Chapter 9 - Robotics, Dynamics, and Kinematics

By John Billingsley
From Essentials of Mechatronics

After all the electronic sensing, signal processing, and computing have been
put into effect, most applications must result in some mechanical movement.
We might be required to look at the theory of coordinating the axes of a robot
to put the workpiece in the correct position or more simply to choose a motor
and gearbox to move a load at a safe top speed.

9.1   GEARS, MOTORS, AND MECHANISMS

Electricity is powerful stuff. It is quite easy to relate electrical power to
mechanical power in metric units, although pounds and feet will require a lot
of conversion factors.

  Consider the following:

  1 kilogram force = 981 newtons
  (so a force of one newt on is about the weight of an apple)
 1 joule = 1 newton-meter
 1 watt = 1 joule per second

So a one-watt motor, if it were 100% efficient, could lift a one-kilogram mass
at a rate of 10 centimeters per second. To lift a 75-kilogram passenger in an
elevator at one meter per second will require

 75 × 9.81 × 1W

 

© 2006
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AC Motors
AC motors include single, multiphase, universal, induction, synchronous, and gear motors. They also include servomotors.  
Stepper Motors (Rotary)
Stepper motors use a magnetic field to move a rotor in small angular steps or fractions of steps. They provide precise positioning and ease of use, especially in low acceleration or static load applications.
AC Servomotors
AC servomotors are responsive, high-acceleration motors typically constructed as permanent magnet synchronous motors.
DC Servomotors
DC servomotors are generally small and powerful for their size, and easy to control. Common types of DC servomotors include brushless or gear motors.
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