Questions tagged [actuator]
A motor, not necessarily electric, which converts energy into some kind of motion.
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How to properly put an actuator
I have a simple thing that needs to have a robotic arm. Below is the illustration of how it would be.
I'm using Blender style to draw bones (armatures). This is the slice of the thing from right side,...
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Implementation of Linear Screw Actuator Control with ros2_control in ROS2
I am currently exploring methods to effectively control a linear screw actuator within ROS2, specifically through the integration of ros2_control. In my current setup, I have established a prismatic ...
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Fabrication of Planar HASEL soft actuators
Recently, I was researching planar HASEL actuators to create artificial muscles. I was greatly inspired by the YouTube video "HASEL actuators with muscle-like performance."
I found the paper ...
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How can position control be achieved using dielectric elastomer actuators?
Electric motors/servo motors can easily make position control using an encoder and manipulating the phases of the motor, but a Dielectric Elastomer Actuator can only activate and disactivate as far as ...
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Controlling motion of single link
This seems like it should have been a well studied problem, but I can't find any solution.
We want to define what a motor must be commanded to do to move a single link with mass $m$ and length $l$ $...
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Applying raw torques to joints in Gazebo simulation
I have a 7dof arm that I want to simulate, and the experiment requires me to be able to apply torques to the 7 servomotors (actuators) in the simulation. I would like to know how I can set up "...
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Barrel with slot, that can slide
Image sourced from: Huygens optics YouTube channel : Maskless Wafer Stepper Part 2: Mechanics @ 7:40
I need to couple a stepper motor to a leadscrew that will be translating back and forth. One ...
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Is it worth designing your own components to mount a ball screw?
As explained here I would like to build a MakerArm / Dobot M1 like robotic ARM (SCARA) that can lift few kgs (< 10kg for sure) using a ball screw for the translation on the Z axis.
Right now I ...
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How to design shafts and select bearings
I am trying to design robotic joints for a SCARA arm, I am mainly missing information about the shaft and bearings components.
Design would be similar to MakerArm / Dobot M1 kickstarter projects.
So ...
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Determine the maximum joint velocities for a PTP-Movement
Assuming an industrial robot performs a PTP movement with a speed of 100% for each joint, it often happens that the joints never reach 100% of speed because the torque limits of the actuators are ...
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Principal approach to control force of an electrically driven friction based griper
I would like to build a gripper that can pick and place irregularly shaped objects, for example, vegetables. I'd like to grasp the object with enough force so that it does not slip form the jaws, but ...
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How to maximize top speed potential for a given motor? [closed]
I have an engineering background however I am new to motors. I am looking to understand what the options exist for maximizing the top speed a motor can produce (say for an RC vehicle) without simply ...
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What type of actuators are needed for a high accuracy, low load weight robotic arm?
I am trying to build a robotic arm that needs to lift a very low amount of weight (between 0.01-0.05kg) at a time, but it needs to be very precise (+/- 1mm accuracy ideally). The robot really only ...
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What are the pros and cons of Zip Chain Actuators in robotics? [closed]
Well, I just found out about these Zipper Chain Linear Actuators, but I couldn't find much information comparing these types to other types of actuators.
For example, what is the performance of Zip ...
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Can you increase resolution/accuracy by mechanically averaging two actuators?
I'm working on a project using hobby servos to drive a revolute joint, and the servo mechanism doesn't seem to respond when I command a motion of less than about 1 degree. I want to increase the ...
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What are the materials and methods used to build ROMAC artificial air-muscles?
So, I was reading about pneumatic artificial muscles, and to my surprise I found that there is a lot of types of air-muscles.
One that called my attention was ROMAC artificial muscle:
In this article ...
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I'm trying to understand an equation from a motor simulation $\dot w_i (u_ i ,w_i,l _i , \dot l _ i )$
I have a simulated motor and I'm not understanding the math to control it.
This is the equation for the force of the motor, also called an 'actuator'.
$\dot w_i (u_ i ,w_i,l _i , \dot l _ i )$
w ...
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What inertial information can I get from a SolidWorks object for simulation in MuJoCo?
MuJoCo needs me to enter the position of the inertial frame and the diagonal of the inertial matrix, (if I understand correctly). I'm not sure how to get this information from SolidWorks.
This object ...
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How can I feel feedback with electric power steering (EPS)?
When I am rotating steering wheel and it meets an obstacle, I feel it. I have EPS. How does it work? Is it just explicit sensor and feedback? Can I sniff this feedback on CAN bus?
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Why Hydraulics and Not Motors?
I have noticed everywhere that professional robotics companies use hydraulics over electric motors. I want to know why that is. Why can they make custom electric motors that are really powerful. ...
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Simple plastic welding machine
I'm doing a little hobby project where I want to weld two thin plastic sheets together, using two heated plates with a specific pattern. I was doing this manually but felt that the result was ...
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Need help regarding electromagnetic suspension implementation
I an trying to implement an electromagnetic suspension system on model/small scale (like the bose suspension system in this video: https://youtu.be/3KPYIaks1UY). Upon doing some research on this topic,...
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How to determine actuator and process for PID, and how to intepret the output
Imagine there is a web service (let's say Twitter) that handles tons of requests from around the world. I want to figure out how to let the web service pick a certain amount of (let's say 1 billion) ...
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Output power of an actuator - General definition
I'm looking for a general definition of the output power of an actuator. Can you suggest me any book or paper or education website where I can find it please?
Thank you in advance.
EDIT
I read the ...
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Controlling Actuated Robot Hand in Underactuated Manner
We have an allegro hand in our robot, and it is in actuated behavior. In other words, each joint is controlled one or more than one actuator, that is motor. There are 3 actuators for each finger, ...
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What is the typical intro example for control systems for a spherical joint?
I have been studying Acrobot and Cart-Pole. Both of these systems I can both work out the equations of motion and linear manipulator equations for how to maintain the poles vertically.
The problem ...
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Calculate the inertia matrix of complex robotic mechanism
Motor, irregular rigid body of Different materials Forming a single robotic.
For example, Industrial robot, every geometric shape of the link is very complex. But we can find inertia matrix form CAD ...
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Design a robot that can apply hot glue to paper
I need to automate a process that involves applying hot glue to paper. I own a standard handheld hot glue gun, like this one:
Sticks of room-temperature glue are fed in the right side. Pulling the ...
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How to balance a long vertical bar
I have a mobile base (1400x1800x400 mm) which has a vertical bar (1) mounted on its geometric center; this vertical bar has a length of 2500 mm and a diameter of 100 mm and I need to keep it always in ...
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Does MIT Cheetah uses Series Elastic Actuator?
I have been wondering does MIT cheetah purely only use electrical active compliance on it's robot or did they use a Series elastic actuator since they have this webbing tendon?
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What servos are suitable for a robot like Boston Dynamics’ Atlas?
I have seen Boston Dynamics’ robot Atlas do some pretty impressive things, like a backflip, which must put quite large torques on the servomotors.
What servos are there that can generate torques like ...
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Actuators used with 2d laser scanners to produce 3D images on ROS
Hi,
The acquisition of 3D LIDAR is mainly based on the rotation of the 2D laser scanner around a certain axis. I mean a standard 2D laser scanner and mechanical rotational element are required for 3D ...
Mekateng
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What do the model numbers in Harmonic Drive gear drives represent?
According to one of their brochures, Harmonic Drive numbers their models with numbers like 8, 11, 14, 17, etc.
I noticed that Chinese suppliers like Laifaul have a similar numbering scheme, though it ...
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Potentiometer as pressure sensor in linear actuator?
I'm trying to use a linear actuator (sample electric cylinder) for a soil penetration device. Originally, I thought of using a pressure sensor to know when/if I hit a rock. However, I am not seeing ...
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What is an "actuation state"
The paper A Feedforward Control Approach to the Local Navigation Problem for Autonomous Vehicles by Alonzo Kelly uses the term actuation space.
Feedforward solves the historically significant ...
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How can a coaxial stepper motor be used to drive the Z axis effector of a SCARA robot?
I am new to robotics and mechanical engineering. I am trying to understand how the Z-axis (and effector) of a SCARA robot can be driven by a stepper motor with it's shaft coaxially aligned along the ...
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What's a good stepper motor to use with ROS?
I'm looking for a stepper motor w/encoder that works with ROS. Does anyone know of a good one that has documentation about how to use it with ROS?
Thanks in advance.
Originally posted by CodeMade on ...
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State of the art trajectory for fine precision robots
Which kind of trajectory would one use for a fine precision robot?
I know trapezoidal and cubic trajectories, but errors get very high when stopping at every configuration and when speeding up to ...
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Suggestions for a rotational actuator [closed]
I am looking for a rotational actuator with high torque and one whose rotation angle can be controlled using the arduino control signals
The project is an e-brake for an e-bike.
Working mechanism
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Rotary Serial Elastic Actuator
I'm building a 7oF arm with series elastic compliant joints. I need series elasticity because I'm training the robot to do autonomous manipulation using machine learning, and I want force control (and ...
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Replace screws with motors!
I am new to this space and the field. Please pardon my lack of intuition or knowledge. I have a recording stand with a join in between. a pair of screws through which the whole apparatus pivots like a ...
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Telescoping linear actuator [closed]
I need to find a linear actuator that can extend to multiple times it's length. I am going to be fixing the actuator horizontally and it will carry a light vertical load.
So far I have thought of ...
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Electronic Spring Vibrating Spheres
For a science project, I'm looking for a way to actuate a spring, connecting two ~ 1 cm Styrofoam spheres to each other, at frequencies around 1-60 Hz.
In other words, I want to be able vibrate 2 ...
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Control method of large linear actuator [closed]
I have a Large linear actuator from Hiwin, the serial number is LAS3-1-1-500-24GE. the data sheet for the LAS3 can be seen on page 18 of the following link: http://www.hiwin.com/pdf/linear_actuators....
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Are scissors what I want for moving straight up and out?
I'm a programmer. I had a tiny amount of experience building robots in college a few years ago, but haven't done anything since.
I'd like to build a robot that can move around my house, pick items up ...
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Which motors are used in boston spot robot
I want to know which motors or smart servos are used in boston dynamics spot robot. Where can i read its spicification and is it possible to buy the motor?
user14148
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motor to turn a screw to move a lever [closed]
Where I can buy an actuator that consists of a motor that turns a screw that moves a rod?
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How can I turn a bowl/glass upside down?
I want to dispense water/cut-vegetables from a glass/bowl(240 ml) by turning it upside down. The screencast shows the idea:
I can directly mount the clamp on a servo motor, but I think that will be a ...
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Plug & play motors, actuators and drivers system
I was wondering if anyone knew of any easy-to-use plug and play systems, that allow you to build and programme a number of actuators and motors quickly and easily?
I'm thinking something like Lego ...
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Converting a differential equation into its Laplace transform
Given the differential equation of a current controlled electric actuator, how would I convert the differential equation into its Laplace transform?
$$ J \frac{d^2 \phi(t)}{dt^2} + D \frac{d \phi(t)}{...
