Robot Mechanisms and Mechanical Devices Illustrated - Profe Saul

vi
Contents
Commutation 34
Installation of Linear Motors 35
Advantages of Linear vs. Rotary Servomotors 36
Coil Assembly Heat Dissipation 37
Stepper Motors 37
Permanent-Magnet (PM) Stepper Motors 38
Variable Reluctance Stepper Motors 38
Hybrid Stepper Motors 38
Stepper Motor Applications 40
DC and AC Motor Linear Actuators 41
Stepper-Motor Based Linear Actuators 42
Servosystem Feedback Sensors 43
Rotary Encoders 43
Incremental Encoders 44
Absolute Encoders 46
Linear Encoders 47
Magnetic Encoders 48
Resolvers 49
Tachometers 51
Linear Variable Differential Transformers (LVDTs) 53
Linear Velocity Transducers (LVTs) 55
Angular Displacement Transducers (ATDs) 55
Inductosyns 57
Laser Interferometers 57
Precision Multiturn Potentiometers 59
Solenoids and Their Applications 60
Solenoids: An Economical Choice for Linear or Rotary Motion 60
Technical Considerations 62
Open-Frame Solenoids 63
C-Frame Solenoids 63
Box-Frame Solenoids 63
Tubular Solenoids 64
Rotary Solenoids 64
Rotary Actuators 66
Actuator Count 67
Debugging 67
Reliability 68
Cost 68
Chapter 2 Indirect Power Transfer Devices 69
Belts 72