Robot Mechanisms and Mechanical Devices Illustrated - Profe Saul

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Contents
Introduction
Acknowledgments
xi
xxxv
Chapter 1 Motor and Motion Control Systems 1
Introduction 3
Merits of Electric Systems 4
Motion Control Classification 5
Closed-Loop System 5
Trapezoidal Velocity Profile 7
Closed-Loop Control Techniques 8
Open-Loop Motion Control Systems 9
Kinds of Controlled Motion 9
Motion Interpolation 10
Computer-Aided Emulation 10
Mechanical Components 11
Electronic System Components 15
Motor Selection 16
Motor Drivers (Amplifiers) 18
Feedback Sensors 19
Installation and Operation of the System 20
Servomotors, Stepper Motors, and Actuators for
Motion Control 20
Permanent-Magnet DC Servomotors 21
Brush-Type PM DC Servomotors 22
Disk-Type PM DC Motors 23
Cup- or Shell-Type PM DC Motors 24
Position Sensing in Brushless Motors 29
Brushless Motor Advantages 30
Brushless DC Motor Disadvantages 31
Characteristics of Brushless Rotary Servomotors 31
Linear Servomotors 31
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