Questions tagged [actuator]

A motor, not necessarily electric, which converts energy into some kind of motion.

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1 vote
26 views

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 ...
• 113
26 views

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 ...
• 113
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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 ...
• 113
1 vote
25 views

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 ...
• 113
51 views

I can't use half the gpio pins and I can't use any pwm pins on the Nvidia Jetson AGX Xavier. What do I toggle to use them?

Most of the pins on the AGX Xavier are 'unused' gpio pins. Yet, only a few of the pins will actually work as gpio pins. I notice most of the pins on this diagram are labelled 1.8/3.3V. Some other gpio ...
• 113
19 views

Detailed resources for control of linear actuators including backlash/friction compansation and controller design?

I am working on a project where I would like to control a linear actuator with a ball screw mechanism. I feel I need a reference book for position/servo control systems for dc motors as there are many ...
37 views

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?
• 115
63 views

Quasi Direct Drive Actuator - Slot & Pole Combinations for High Torque Motor

I am building my own Quasi Direct Drive actuator and looking for information/ design guidelines for building a High Torque Motor similar to the MIT Mini Cheetah below. Specifically I cannot seem to ...
1 vote
51 views

Any untethered artificial muscles available in the market? [closed]

Well, non-tethered artificial muscles are just artificial muscles that only need electric wiring in order to work; unlike pneumatic/hydraulic/vacuum actuators that need a external pump in order to ...
• 113
1 vote
67 views

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. ...
29 views

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 ...
50 views

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,...
1 vote
80 views

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) ...
• 111
34 views

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 ...
1 vote
207 views

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, ...
• 133
35 views

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 ...
335 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 ...
• 177
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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 ...
1 vote
33 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 ...
1 vote
230 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?
1 vote
2k 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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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 ...
• 156
538 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 ...
74 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 ...
617 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 ...
• 153
67 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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1 vote
28 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 ...
• 11
1 vote
183 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 ...
• 147
1 vote
85 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 ...
1 vote
435 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 ...
• 111
42 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 ...
• 101
183 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....
148 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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1 vote
988 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?
391 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?
1 vote
133 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 ...
• 11
62 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 ...
160 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)}{...
75 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 ...
• 11
967 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 ...
• 409
1k 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 ...
1 vote
456 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://...
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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43 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 ...
141 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 ...
• 133
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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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1 vote
35 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 ...
3k 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/...
• 153
734 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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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 ...