ACTUATORS

Kent Tayron Lapeceros

Stepper Motors

 is a brushless DC electric motor that divides a full rotation into a number of

equal steps.
Common application: Robotic arms
Stepper Motors

Features:
 It can be used in position control applications without the need for a position
sensor.
 It can be easily controlled with digital circuits.
 there are no wires connected to the rotor, which eliminates the need for
brushes and a commutator.
 It can generate a large torque at low speed, which eliminates the need for
gears.
Stepper Motors

Types:
 Permanent Magnet (PM)
 Variable Reluctance (VR)
 Hybrid
Stepper Motor (Permanent Magnet)

 the rotor is a permanent magnet and has no teeth, meaning it has alternating
north and south poles parallel to the rotor shaft.
 has the capability of exerting a small holding torque, called a detent torque.
 are widely used in nonindustrial applications such as computer printers and
typewriters.
Stepper Motors (Variable Reluctance)

 the rotor is constructed from non-magnetized soft iron material and has
teeth.
 has the advantage of a faster dynamic response.
 are known for their relatively high noise levels.
Stepper Motors (Hybrid)

 Its rotor is a permanent magnet but also has teeth

 The magnet is magnetized along the axis of the rotor with the upper half of
the rotor having one polarity while the lower half has another polarity.
 Mostly used in industrial applications.
Stepper Motors
Stepper Motor

Drive Methods:
 Wave Drive
 Full Stepping
 Half Stepping
 Micro Stepping
Stepper Motor (Wave Drive)

 The rotor goes through the positions 1, 3, 5, and 7 in 90° steps.

 To do a complete rotation, the motor has to go through the four steps shown.
Stepper Motor (Full Stepping)

 The rotor moves through positions 2, 4, 6, and 8

 Due to both phases being on, the torque applied to the rotor is higher in this
case than in the wave drive.
Stepper Motor (Half Stepping)

 This actuation method alternates between activating one phase and two
phases at a time.
 Takes eight steps to complete and rotation.
 Combination of wave drive and full stepping.
 The rotor is this case travels in 45° steps from position 1 to position 8.
Stepper Motor (Half Stepping)
Stepper Motor (Micro Stepping)

 The current to both phases is varied in small steps.

 Results in a smoother motion of the motor with less vibration
 The applied torque to the rotor is reduced by 30 to 40% compared to full-
stepping actuation.
Other Motor Types

 Universal Motor
 Servo, Gear, and Brake Motors
 Hobby Motors
Universal Motors

 Is an electric motor that can be operated using both AC and DC voltage

signals.
 It is mostly used in hand tools, appliances such as vacuum cleaners, mixers,
and blenders.
 The motor uses brushes for commutation.
Servo, Gear, and Brake Motors

 A servo motor is an actuator that allows for precise control of angular or

linear position, velocity, and acceleration.
 A gear motor, which is a motor that has a gear attached to it to reduce the
speed and increase the output torque of the motor.
 A brake motor has an attached brake to prevent the shaft from rotation when
the power is disconnected to the motor.
Hobby Motors

 These motors are widely used in radio-controlled cars, planes and boats.
 Are relatively inexpensive and are available in several sizes including
standard, mini-micro, and quarter scale.
Actuator Selection

 Type of motor (AC or DC)

 Power rating
 Speed
 Operating voltage
 Frequency
 Motor frame size (NEMA)
 Mounting details (NEMA)

(National Electrical Manufacturers Association)