Lecture 4 - Actuator sizin

Remarks

• Max temperature -> melting of insulation
• Temperature in datasheet = 25 Celsius
• Feedback/closed loop = measure, compare, correct
• Servo
  • Friction and damping is low
  • Low inertia
  • High bandwidth

Actuator sizing

Motion profile

• Trapezoidal -> sizing | S -> control
• Selection parameters
  • Max continuous torque vs. RMS
  • Nominal speed vs. Maximum speed
  • Stall torque vs. Max torque
  • Torque profile vs. Thermal time constant