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How should the mobile robot choose the appropriate driving motor?
Date：May 17th,2023
In a mobile robot, the function of the driving motor is to convert the electric energy into the angular displacement, angular speed or torque of the motor shaft under the action of the control signal (such as voltage, current, pulse, etc.). The structure of drive motor generally includes: chassis, shell, front and rear end cover, stator components, rotor components, core, insulation winding, motor shaft, bearing, commutator, encoder, lock device, etc. Mobile robots commonly used drive motors mainly include: DC servo motor, AC servo motor, stepping motor. Below, for you one by one in detail:
1. DC servo motor
DC servo motor uses DC power supply, including: ordinary DC servo motor, disk armature DC servo motor, hollow cup armature DC servo motor, no slot armature direct current servo motor, DC torque motor, etc.
The basic working principle of DC servo motor is exactly the same as that of ordinary DC motor, that is, the electromagnetic torque is generated through the action of armature current and air gap magnetic flux, so that the stator of DC servo motor rotates. The DC servo motor usually adopts the armature control method, that is, adjust the speed by changing the armature voltage while keeping the excitation voltage unchanged: the lower the armature voltage, the lower the speed; when the armature voltage is zero, the motor stops.
Mobile robots generally carry their own batteries, so the drive motor is also mainly DC servo motor. When the voltage of the DC servo motor is not consistent with the battery voltage, the power conversion module (DC-DC) is needed to achieve the adaptation between the two.
1. Ordinary DC servo motor
The stator of ordinary DC servo motor is electromagnetic or permanent magnet type, and the rotor is composed of iron core with groove and armature winding embedded in the groove. The ordinary DC servo motor has strong load capacity and large blocking torque, but due to the complex rotor structure and large volume, the mechanical inertia of the motor is large, the operation stability at low speed is poor, and the control dead area is large.
2. Plate armature DC servo motor
The stator of the disk armature direct current servo motor is permanent magnet type, the rotor is a disk structure, the armature wire winding type (wire winding disk type) and printed circuit type (printed disk type). The motor has a simple structure, small volume, light rotor weight, and the mechanical inertia of the rotor is small, but the blocking torque is small. The capacity of winding coil motor can reach several kilowatts, and the capacity of printed coil is smaller.
3. Hollow cup armature direct current servo motor
The stator of the hollow cup armature direct current servo motor is of permanent magnet type. The rotor takes a hollow cup configuration as the skeleton, and the armature winding is placed (or printed) on the cup wall. Its armature winding can be a winding winding or a printed winding. This servo motor is famous for its very small mechanical inertia, high control sensitivity, almost no control dead area, its volume can be done very small and light weight. But the blocking torque is small, its current capacity can not be done very large, is a kind of miniature servo motor.
4. No less armature DC servo motor
The only difference between the armature DC servo motor and the ordinary DC servo motor is that its rotor core is not slot, and the armature winding fixed adhesive is glued to the surface of the armature. This kind of servo motor has a large load capacity, a large blocking torque, the motor capacity can be done is relatively large, and the low speed stability is good.
5. DC torque motor
DC torque
1. DC servo motor
DC servo motor uses DC power supply, including: ordinary DC servo motor, disk armature DC servo motor, hollow cup armature DC servo motor, no slot armature direct current servo motor, DC torque motor, etc.
The basic working principle of DC servo motor is exactly the same as that of ordinary DC motor, that is, the electromagnetic torque is generated through the action of armature current and air gap magnetic flux, so that the stator of DC servo motor rotates. The DC servo motor usually adopts the armature control method, that is, adjust the speed by changing the armature voltage while keeping the excitation voltage unchanged: the lower the armature voltage, the lower the speed; when the armature voltage is zero, the motor stops.
Mobile robots generally carry their own batteries, so the drive motor is also mainly DC servo motor. When the voltage of the DC servo motor is not consistent with the battery voltage, the power conversion module (DC-DC) is needed to achieve the adaptation between the two.
1. Ordinary DC servo motor
The stator of ordinary DC servo motor is electromagnetic or permanent magnet type, and the rotor is composed of iron core with groove and armature winding embedded in the groove. The ordinary DC servo motor has strong load capacity and large blocking torque, but due to the complex rotor structure and large volume, the mechanical inertia of the motor is large, the operation stability at low speed is poor, and the control dead area is large.
2. Plate armature DC servo motor
The stator of the disk armature direct current servo motor is permanent magnet type, the rotor is a disk structure, the armature wire winding type (wire winding disk type) and printed circuit type (printed disk type). The motor has a simple structure, small volume, light rotor weight, and the mechanical inertia of the rotor is small, but the blocking torque is small. The capacity of winding coil motor can reach several kilowatts, and the capacity of printed coil is smaller.
3. Hollow cup armature direct current servo motor
The stator of the hollow cup armature direct current servo motor is of permanent magnet type. The rotor takes a hollow cup configuration as the skeleton, and the armature winding is placed (or printed) on the cup wall. Its armature winding can be a winding winding or a printed winding. This servo motor is famous for its very small mechanical inertia, high control sensitivity, almost no control dead area, its volume can be done very small and light weight. But the blocking torque is small, its current capacity can not be done very large, is a kind of miniature servo motor.
4. No less armature DC servo motor
The only difference between the armature DC servo motor and the ordinary DC servo motor is that its rotor core is not slot, and the armature winding fixed adhesive is glued to the surface of the armature. This kind of servo motor has a large load capacity, a large blocking torque, the motor capacity can be done is relatively large, and the low speed stability is good.
5. DC torque motor
DC torque