2 - How Does a Robot Get Its Power

2 - How Does a Robot Get Its Power - ELEC300V Fundamental...

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ELEC300V – Fundamental of Electro-Robotics all 2008 Fall 2008 Lecture 2 ECE fundamental How does a robot get its power?
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Hierarchical design • System decomposition omplex systems (e.g. robot) are usually composed of Complex systems (e.g. robot) are usually composed of numerous sub-systems – To make the design more manageable, we usually use a “divide- nd- onquer” approach for designing complex system and conquer approach for designing complex system. – The divide-and-conquer approach is also used in the sub-system design e call this hierarchical decomposition of designs – We call this hierarchical decomposition of designs obot system inputs actions Robot system Electronic sub-system Mechanical sub-system inputs actions …………. . Other sub-sub-systems Other sub-sub-systems
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Decomposition of the electronic ub ystems sub-systems lectronics puts Electronics Sub-systems inputs actions Control processor Motor Drive To mechanical sub-system inputs Sensor/ emory Motor other input Memory ogic Power Supply o mechanical Control Logic Logic Power supply Power Amplifier To mechanical sub-system
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Basic Electrical Quantities • Charge – Symbol: Q; unit: C (Coulombs) ndamental propert of matter – Fundamental property of matter – Can neither be created or destroyed tructure of matter: atom, protons, electrons Structure of matter: atom, protons, electrons – 2 types of charge: +ve charge (proton) and –ve charge (electron) – Opposite charges attract, like charges repel – An atom is electrically neutral: same number of protons and lectrons + + - - + - electrons – Smallest amount of charge: q (charge for 1 electron) – q = -1.6X10 -19 C lectrons at the farthest orbit can be added and Electrons at the farthest orbit can be added and removed from the orbit easier than that in other orbits
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onductor and Insulator Conductor and Insulator ome atoms require less energy to add or remove the So e ato s equ e ess e e gy to add o e o e t e outer electrons – CONDUCTOR – Materials through which charge flows readily – Low resistance • Some atoms are harder to give up or receive electrons – INSULATOR – Materials that do not allow charge to move easily igh resistance – High resistance • Charge flow harge flow through a conductor: Charge flow through a conductor: • When one circuit element “shove” an additional electron into one end of a wire, a different electron is pushed out the other end
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This note was uploaded on 01/28/2011 for the course ELEC 300V taught by Professor C.ytsuiandmansunchan during the Fall '08 term at HKUST.

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2 - How Does a Robot Get Its Power - ELEC300V Fundamental...

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