Questions tagged [actuator]
A motor, not necessarily electric, which converts energy into some kind of motion.
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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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1answer
32 views
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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1answer
24 views
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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1answer
24 views
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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1answer
84 views
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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1answer
375 views
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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1answer
28 views
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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3answers
156 views
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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1answer
58 views
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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1answer
204 views
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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1answer
49 views
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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1answer
22 views
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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2answers
105 views
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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1answer
72 views
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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1answer
145 views
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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1answer
41 views
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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1answer
142 views
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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2answers
80 views
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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1answer
545 views
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?
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1answer
265 views
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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2answers
123 views
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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1answer
54 views
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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1answer
85 views
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)}{...
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1answer
56 views
How to get started on making a dispenser for Indian spices?
I want to make a dispenser system for Indian spices.
Dispense in multiple of teaspoons (5 ml)
Handle powdered spices and small seeds like mustard/cumin
I ordered a spice carousel from amazon and ...
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3answers
733 views
What types of actuators do these industrial bots use?
I have a particular example robot that interests me:
http://www.scmp.com/tech/innovation/article/1829834/foxconns-foxbot-army-close-hitting-chinese-market-track-meet-30-cent
See first image, the ...
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2answers
540 views
What kind of torque is needed for a small 5-6 axis robotic arm?
I'm new to robotics and I'm looking to make a 5-6 axis robotic arm out of stepper motors but I honestly don't know how much torque I should have for each part. Below I have described in more detail ...
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1answer
347 views
Rostock Delta Robot 3D Printer Degrees of Freedom (DOF)
What is the degrees of freedom (DOF) of the Rostock delta robot 3d printer (delta mechanism that consists of three prismatic joints)?
Here's the link to the delta mechanism I'm referring to:
https://...
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1answer
2k views
Why do series elastic actuators have more accurate and stable force control?
The other day, somebody was telling me about a robot in their lab, and they mentioned that it has "series elastic" actuators. But after doing a bit of Googling, I'm still not sure as to what this ...
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1answer
37 views
What type of actuator should I use? [closed]
I need to find out if There is a way to get at least 60 Hz of linear Motion with at least 5 mm of stroke that I intend to make linear persistence of vision device(not rotating one)It must be small and ...
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1answer
115 views
Considerations to design actuators, and loop feedback systems, for a robotic arm [closed]
Let's say I have an industrial sized 6DOF robotic arm. I want to control each one of the six joints despite the non-linearity produced by the chain structure, the gravity and the weight of the loads ...
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2answers
58 views
Choosing motor type for high reliability for many cycles
I am designing a multi modal stent testing machine which will bend, twist, and compress stents (very thin, light, and fragile cylindrical meshes for in arteries) in a tube. The machine will operate at ...
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1answer
30 views
Exchange air and maintain thermal insulation
My application is composting with worms outdoors inside an a styrofoam cooler. I use a heat lamp and a thermo-electric cooler to maintain the temperature in the bin when the temperature outside is ...
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2k views
Electronic circuit for heating nylon fishing line muscle
I'm trying to make artificial muscles using nylon fishing lines (see http://io9.com/scientists-just-created-some-of-the-most-powerful-muscl-1526957560 and http://writerofminds.blogspot.com.ar/2014/03/...
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1answer
484 views
differences between SCARA arm design
I am currently interested in SCARA arm designs and I have few, beginner questions for which I didn't find answers yet.
1/ While comparing professional arms (made by epson, staubli...) I noticed that ...
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1answer
166 views
Linear actuators in a cartesian robots
I would like to make a Cartesian robot with maximum speed of up to $1ms^{-1}$ in x/y plane, acceleration $2ms^{-2}$ and accuracy at least 0.1mm. Expected loads: 3kg on Y axis, 4kg on X axis. Expected ...
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2answers
67 views
How do I dispense a greasy fluid?
I'm a agricultural engineering student and complete newbie trying to build a simple mechanism attached to a drone that dispenses a grease-type fluid. However, since I'm not familiar with the field, I'...
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1answer
182 views
How do I decide the size of the time steps between sensing and control actuation?
My Background:
My experience is in solid mechanics and FEA. So I have zero experience in robotics/controls.
Problem Description
I'm developing a control strategy to stabilize a complicated 6-...
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2answers
111 views
How to make door opening to the top
I need to make this construction (door is closed by default, door is opened to the top). This is the scheme:
Red rectangle on the picture is the aperture, blue rectangle is the door (weight is about ...
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3answers
118 views
What actuator types exist that remain locked in their last position like hydraulic piston?
I would like to find an electronic actuator that mimics the characteristics of a hydraulic actuator, in that the position remains fixed without power drain when the actuator is not moving. Which ...
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2answers
1k views
Calculate required motor torque through Harmonic Drive
I have a term project which is controlling a two-link manipulator with harmonic drive installed at each joint.
To control, i used Computed control method to determine the torque needed for each joints ...
2
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1answer
522 views
Spring with electronically adjustable stiffness
I would like to build a mechanical module that acts like a spring with electronically controllable stiffness (spring rate).
For instance, let's imagine a solid, metallic cube, 0.5 m each side. On the ...
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2answers
304 views
Stewart platform as robotic wrist joint
I'm planning the design of a wrist for a humanoid robot. I would like to choose a design that is sturdy while allowing for dexterity comparable to a human wrist.
One option that was presented to me ...
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1answer
544 views
Electric piston (longitudinal electric motor)?
Are there electric motors, which apply force not in rotational motion, but in longitudinal motion?
They should have electromagnetic design and no gears and worms.
Such motors would be great for ...
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2answers
371 views
Vacuum Lifter: Moving Playing Cards
I'd like to buy a small Vacuum Lifter so that I can move playing cards around with robotics. But my "google-fu" is failing me. I don't really know what search terms to look for... or what webpages to ...
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2answers
305 views
2Nm small motor
Currently designing a spherical wrist, I want to manipulate a 300gr payload.
the design has a 200mm span, so I'm guessing at a 1.1Nm (considering the weight of structure & motors).
I've looked at ...
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1answer
75 views
How can i make a compact soft robot
I want to make a compact (actuators motors and sensors are all in one) soft robot. Actuators can be pneumatic or dielectric. I need suggestions about manufacturating. I'm open to new ideas.
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2answers
353 views
Adding an Actuator or Force to a (Featherstone) Articulated Rigid Body Model
I'm working on a project where I need to model a system that is essentially comprised of a series of ball-and-socket joints attached to a base, which is attached in turn to a prismatic joint (rail).
...
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2answers
703 views
Building industrial-like robotic arm
I would like to build a 70cm articulated robotic arm (not a scara one) that can lift between 10kg and 15kg (10kg would be awesome already, this payload includes the weight of the arm+gripper) and ...
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1answer
3k views
Design and construction of universal robotic arm (5kg, 1m)
i am working on my master's thesis about design and construction of universal robotic arm.
Goal of my work is to design 5 DOF robotic arm. Something like on the picture:
I need it to be able to ...
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1answer
425 views
Converting a linear acceleration command into a DC motor command?
I'm constructing a 2 wheels balancing robot which uses a PID controller. I've tuned my parameters on numerical simulations based on a continuous inverted pendulum system so that the simulated ...
