Abstract
Robots are active system and require a source of energy to power all their functions. The energy needed for operation must be distributed to the various functions and duly modulated, by power converters, which are themselves managed by a suitable low level controller. Finally, a set of transducers, the actuators, operates the various parts of the robot. To close the control loop, another set of transducers, the sensors, supply information about the state and the position of the robot (proprioceptors) or the environment (exteroceptors) to the control system. This chapter is devoted to the study of the most common types of transducers of both types.
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Notes
- 1.
These definitions assume that the actuator has a cylindrical or prismatic shape.
- 2.
J.E. Huber, N.A. Fleck, M.F. Asby, The Selection of Mechanical Actuators Based on Performance Indices, Proc. Royal Soc., London, 453, pp. 2185–2205, 1997.
- 3.
The performance indices of actuators are described in details in O. Gomis-Bellmunt, L.F. Campanile, Design Rules for Actuators in Active Mechanical Systems, Springer, London, 2010.
- 4.
The term iron is here used to designate a generic ferromagnetic material, as the term copper will be used to designate a generic electric conductor.
- 5.
A. Tonoli, N. Amati, M. Silvagni, Transformer Eddy Current Dampers for the Vibration Control, Journal of Dynamic Systems, Measurement and Control, Vol. 130, May 2008.
- 6.
O. Gomis-Bellmunt, L.F. Campanile, Design Rules for Actuators in Active Mechanical Systems, Springer, London, 2010.
- 7.
See IEEE standard 176-1987.
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Genta, G. (2012). Actuators and Sensors. In: Introduction to the Mechanics of Space Robots. Space Technology Library, vol 26. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-1796-1_7
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DOI: https://doi.org/10.1007/978-94-007-1796-1_7
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