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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 Fall 2008 Lecture 2 ECE fundamental H d b t t it ? How does a robot get its power?

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Hierarchical design System decomposition – Complex 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- and-conquer” 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 We call this hierarchical decomposition of designs Robot system inputs actions Electronic sub-system Mechanical sub-system inputs actions ………….. Other sub-sub-systems Other sub-sub-systems
Decomposition of the electronic sub systems sub-systems Electronics inputs Electronics Sub-systems actions Control processor Motor Drive To mechanical sub-system inputs Sensor/ Memory Motor other input Logic Power Supply To 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) F ndamental propert of matter Fundamental property of matter Can neither be created or destroyed – Structure 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 electrons + + - - + - Smallest amount of charge: q (charge for 1 electron) – q = -1.6X10 -19 C – Electrons 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