tailieunhanh - Industrial Robots Programming - J. Norberto Pires Part 2

Tham khảo tài liệu 'industrial robots programming - j. norberto pires part 2', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Introduction to the Industrial Robotics World 11 Power Unit DC Motor 24V 50W planetary gearhead 25 1 velocity control circuitry Figure The Robot Nicola a Nicola I b Nicola II But it was a fabulous advancement for the time nineteenth century . How would it be building a system with those characteristics today Using common industrial equipment wireless communications actual operating systems and well known programming tools That is the goal of our robot Nicola . to show that Tesla s dream is still actual and that despite the sophistication of those robotic space explorers Figure the technology involved and the concepts are simple accessible and fun to learn how it all basically works. 12 Industrial Robots Programming Constitution of the Robot Nicola The robot Nicola is very simple. Basically it is a three-wheel robot with two power wheels in front and a free wheel in the back Figure . The wheels used are of the same type that can be found in office chairs and other office equipment. Each of the two power wheels are equipped with a power unit composed of 1. One 24 V DC motor max. power 50 w máx. velocity 3650 rpm max. torque Nm model MDLC-58 from Maclennan Ltd. 9 2. One 25 1 gear unit model IP57-M2 from Maclennan Ltd. 9 The selected DC motor is equipped with a velocity control loop Figure which makes it very simple to linearly conưol velocity just by feeding the unit with a 0-5 V analog signal. The control circuit is a very simple electronic circuit composed of a velocity control loop and a power amplifier. The velocity control loop makes the motor velocity proportional to the commanding analog signal 0-5 V in magnitude and the rotating velocity is defined by a digital input 0 - positive direction 1 - negative direction . Figure Diagram of the velocity control circuitry 9 Using this power unit attached to each wheel there is no need for a mechanical steering mechanism since the electric differential effect can be used to steer the .