Figure 1 shows a single robot joint/link driven through a gear ratio ? by an armature-controlled DC motor.
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Figure 1 shows a single robot joint/link driven through a gear ratio ? by an armature-controlled DC motor.
Consider the DC motor-driven wheeled mobile robot shown in figure, in which m is the mass...
Consider the DC motor-driven wheeled mobile robot shown in figure, in which m is the mass of the wheeled mobile robot, r is the radius of the driving wheel, and T is the torque delivered to the wheeled mobile robot by the DC motor. For simplicity, the motion is restricted to one spatial dimension. The figure also shows the simplified drive system, including the equivalent electrical circuit of the DC motor, the gears, and the driving wheel. The motor parameter...
An armature-controlled dc motor operates at steady state, with an armature drive voltage va = 10 ...
An armature-controlled dc motor operates at steady state, with an armature drive voltage va = 10 V. The motor runs at 600 rpm, and the armature current is found to be ia = 0.2 A. The armature resistance is Ra = 15 Ω. Determine: (a) The torque constant km of the motor (b) Electrical damping constant be (c) The efficiency under the given operating conditions, if the mechanical damping constant is bm = 8.25 × 10−5 N ⋅ m/rad/s (d)...
Question 4 (Could be considered as Quiz 3- 4.5 pts). An armature-controlled DC motor of figure...
Question 4 (Could be considered as Quiz 3- 4.5 pts). An armature-controlled DC motor of figure below has the following characteristics: Ra=1.2 ohms, L. - 0, KT = 0.06 N-m/A (motor-torque constant), K = 0.06 V-s/rad (back-emf constant). It has maximum speed of 500 rad's with a maximum current of 2 A. We suppose that all possible frictions are represented in friction torque Tr=0.012N-m. R: armature resistance, 2 La armature inductance, H is : armature current, A is: field current,...
a single pdf file. Armature - Controlled DC Motor Representative Differential Equations di Ly da Ti...
a single pdf file. Armature - Controlled DC Motor Representative Differential Equations di Ly da Ti Where the armature voltage (%) is the input, and the armature current (a) and the motor speed (w) are the outputs. Armature circuit 4(0)-0 A a,(0) = 20π rad PART 1 -State Variables A. Make a list of all of the time-dependent output variables: B. What is the highest order derivative present for each of the output variables? C. List all of the lower...
3. The figure shows a DC servomotor system. Assume that the armature inductance of the DC...
3. The figure shows a DC servomotor system. Assume that the armature inductance of the DC motor is negligible (it is not shown in the figure.) Obtain the transfer function between the output 02 and the input ea. (Hint: the motor torque T-Kia, and its back emf, es kvm) Gear 1 y constant Gear 2
Analyze a DC series phase-controlled motor drive with single-phase, full wave, controlled AC/DC rectifier in continuous...
Analyze a DC series phase-controlled motor drive with single-phase, full wave, controlled AC/DC rectifier in continuous conduction mode (CCM) of operation. Draw the motor voltage and current waveforms and write the equations (instantaneous and averaged). Please note that the waveforms and equations have been presented in class for a DC separately-excited motor drive.
1. A seperately excited DC motor operating from a single phase half controlled bridge at a...
1. A seperately excited DC motor operating from a single phase half controlled bridge at a speed of 1400rpm, has an input voltage of 33 sin 314t and a back emf of 80V. TheSCRs are fired symmetrically at an angle of 30 deg in every half cycle and the armature has a resistance of 4ohms. Calculate the average armature current and the motor torque.
Q5. (5 Marks) Suppose we have a one-link robot of L-1 m, controlled at the hinge by a motor. Ther...
Q5. (5 Marks) Suppose we have a one-link robot of L-1 m, controlled at the hinge by a motor. There is a wall, parallel to the X-axis, at a distance of 0.65m from the joint as shown in the Figure 5. We would like to generate a trajectory for the hinge motor which will start at time t 0 with the door along the X-axis and at rest. It will end at time t = 2s with the door q(t-...
Robotics System subject Consider a single-link robot manipulator with a rotary joint. If initial angular position...
Robotics System subject
Consider a single-link robot manipulator with a rotary joint. If initial angular position of the joint is 5° and the joint will rotate to the final position of 80° in 3 seconds, design a LSPB trajectory with constant cruising velocity of 30°/sec. Sket position, velocity and acceleration I. ch the graphs for ts angular
The field coil controlled DC motor is shown schematically in Figure Q2. (a) Define all the...
The field coil controlled DC motor is shown schematically in Figure Q2. (a) Define all the quantities shown on the Figure Q2 Q.2 (6 marks) Write down an expression which defines the motor torque in terms of currents. Reduce 4 marks) (b) this equation down into its simplest form, defining field control. (c) Show that the angular position of the motor is defined by θ(s) = Tm(s)-Ta(s) (5 marks) (d) By neglecting the disturbance torque proceed to show that the...
Question 4 (Could be considered as Quiz 3- 4.5 pts). An armature-controlled DC motor of figure below has the following characteristics: Ra=1.2 ohms, L. - 0, KT = 0.06 N-m/A (motor-torque constant), K = 0.06 V-s/rad (back-emf constant). It has maximum speed of 500 rad's with a maximum current of 2 A. We suppose that all possible frictions are represented in friction torque Tr=0.012N-m. R: armature resistance, 2 La armature inductance, H is : armature current, A is: field current,...
a single pdf file. Armature - Controlled DC Motor Representative Differential Equations di Ly da Ti Where the armature voltage (%) is the input, and the armature current (a) and the motor speed (w) are the outputs. Armature circuit 4(0)-0 A a,(0) = 20π rad PART 1 -State Variables A. Make a list of all of the time-dependent output variables: B. What is the highest order derivative present for each of the output variables? C. List all of the lower...
3. The figure shows a DC servomotor system. Assume that the armature inductance of the DC motor is negligible (it is not shown in the figure.) Obtain the transfer function between the output 02 and the input ea. (Hint: the motor torque T-Kia, and its back emf, es kvm) Gear 1 y constant Gear 2
Q5. (5 Marks) Suppose we have a one-link robot of L-1 m, controlled at the hinge by a motor. There is a wall, parallel to the X-axis, at a distance of 0.65m from the joint as shown in the Figure 5. We would like to generate a trajectory for the hinge motor which will start at time t 0 with the door along the X-axis and at rest. It will end at time t = 2s with the door q(t-...
Robotics System subject
Consider a single-link robot manipulator with a rotary joint. If initial angular position of the joint is 5° and the joint will rotate to the final position of 80° in 3 seconds, design a LSPB trajectory with constant cruising velocity of 30°/sec. Sket position, velocity and acceleration I. ch the graphs for ts angular
The field coil controlled DC motor is shown schematically in Figure Q2. (a) Define all the quantities shown on the Figure Q2 Q.2 (6 marks) Write down an expression which defines the motor torque in terms of currents. Reduce 4 marks) (b) this equation down into its simplest form, defining field control. (c) Show that the angular position of the motor is defined by θ(s) = Tm(s)-Ta(s) (5 marks) (d) By neglecting the disturbance torque proceed to show that the...
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