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Motors and DriversThinkLABS             www.thinklabs.in
Actuators: The Family                                    Actuators                 Rotational                             ...
DC Motor Backbone of major  actuators in robotics Available in various  shapes, sizes and  ratings Easy to use         ...
Geared Motors A DC motor with a gear  head on its output shaft Principle of gear  reduction used Amplifies torque and  ...
Inside a Geared Motor                        www.thinklabs.in
The Right Geared Motor How to select   the right motor for your robot? Its all about Speed & Torque For small robots, s...
Motor Drivers                          Motor                     Motor   Logic block                          Driver      ...
Motor Drivers: Types                         Drivers   Electromechanical                 Solid-State         Relays       ...
RELAYS V/S BJTS        Relays             BJTs (Solid State) • Has a high power      • Power rating is   rating.          ...
Relays V/S BJTs                  www.thinklabs.in
Motor Drivers: Solid State Drivers built using Transistors Fast, Efficient and Small Also available in Integrated Packa...
Motor Drivers: Solid SateBasic Motor Driver (ON/OFF) using a BJT                                     www.thinklabs.in
Motor Drivers: Solid SateProblems with this Circuit?                              www.thinklabs.in
Motor Drivers: Solid SateBasic Motor Driver (ON/OFF) using a BJT                                     www.thinklabs.in
Motor Drivers : Bi-DirectionalBut how about changing the motor direction as well??                                www.thin...
Motor Drivers : H-BridgeH Bridge / Full Bridge   H Bridge is capable of    driving a DC motor in both    the directions....
H-Bridge Case 1Case 1: When switch S2 and S3  are closed, current will  flow from right to left  of the motor. Now, the ...
H-Bridge Case 2Case 2: When switch S1 and S4  are closed, current will  flow from left to right of  the motor. Now, the ...
H Bridge Design 1                    www.thinklabs.in
H Bridge Design 2                    www.thinklabs.in
H-Bridge using BJTs                      www.thinklabs.in
H-Bridge using BJTs : Case 1         A   B   T1   T2    T3      T4         0   1   ON   OFF   OFF     ON                  ...
H-Bridge using BJTs : Case 2        A   B   T1    T2   T3       T4        1   0   OFF   ON   ON       OFF                 ...
H Bridge Design (Buffered)                     www.thinklabs.in
Complete H Bridge                    www.thinklabs.in
H Bridges: Integrated Circuits Darlington pairs   available in IC packages : ULN  XX H Bridges available in IC packages ...
Driving Motors                 www.thinklabs.in
ANY QUESTIONS?                 www.thinklabs.in
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Motors and Drivers

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Transcript of "Motors and Drivers"

  1. 1. Motors and DriversThinkLABS www.thinklabs.in
  2. 2. Actuators: The Family Actuators Rotational Linear DC Motors Stepper Motors Pneumatics Artificial MusclesGeared RC Servo Unipolar Bipolar www.thinklabs.in
  3. 3. DC Motor Backbone of major actuators in robotics Available in various shapes, sizes and ratings Easy to use www.thinklabs.in
  4. 4. Geared Motors A DC motor with a gear head on its output shaft Principle of gear reduction used Amplifies torque and reduces speed Absolutely necessary Available in wide range of gear reduction ratios [ My summer dream collection ;-) ] www.thinklabs.in
  5. 5. Inside a Geared Motor www.thinklabs.in
  6. 6. The Right Geared Motor How to select the right motor for your robot? Its all about Speed & Torque For small robots, speeds of 60 – 150rpm is ideal and torque in the range of 2Kgcm Gear reduction ratio can approximate torque All depends on the DC motor used, bigger, meaner, the better www.thinklabs.in
  7. 7. Motor Drivers Motor Motor Logic block Driver Motor Power Supply Basic Block Diagram of a Motor Controller www.thinklabs.in
  8. 8. Motor Drivers: Types Drivers Electromechanical Solid-State Relays BJTs & (SPST,SPDT,DPST,DPDT) MOSFETs www.thinklabs.in
  9. 9. RELAYS V/S BJTS Relays BJTs (Solid State) • Has a high power • Power rating is rating. smaller than relays. • High power • Very small power consumption. consumption. • Slower in response. • Fast response. • May produce noise • Immune to noise. at the output. • Size?? • Size?? www.thinklabs.in
  10. 10. Relays V/S BJTs www.thinklabs.in
  11. 11. Motor Drivers: Solid State Drivers built using Transistors Fast, Efficient and Small Also available in Integrated Packages Ideal for our needs !! www.thinklabs.in
  12. 12. Motor Drivers: Solid SateBasic Motor Driver (ON/OFF) using a BJT www.thinklabs.in
  13. 13. Motor Drivers: Solid SateProblems with this Circuit? www.thinklabs.in
  14. 14. Motor Drivers: Solid SateBasic Motor Driver (ON/OFF) using a BJT www.thinklabs.in
  15. 15. Motor Drivers : Bi-DirectionalBut how about changing the motor direction as well?? www.thinklabs.in
  16. 16. Motor Drivers : H-BridgeH Bridge / Full Bridge H Bridge is capable of driving a DC motor in both the directions. Based on the switch states, direction of the motor can be changed. www.thinklabs.in
  17. 17. H-Bridge Case 1Case 1: When switch S2 and S3 are closed, current will flow from right to left of the motor. Now, the motor will rotate in one direction, say Clockwise. www.thinklabs.in
  18. 18. H-Bridge Case 2Case 2: When switch S1 and S4 are closed, current will flow from left to right of the motor. Now, the motor will rotate in another direction, ie., Counter Clockwise. www.thinklabs.in
  19. 19. H Bridge Design 1 www.thinklabs.in
  20. 20. H Bridge Design 2 www.thinklabs.in
  21. 21. H-Bridge using BJTs www.thinklabs.in
  22. 22. H-Bridge using BJTs : Case 1 A B T1 T2 T3 T4 0 1 ON OFF OFF ON www.thinklabs.in
  23. 23. H-Bridge using BJTs : Case 2 A B T1 T2 T3 T4 1 0 OFF ON ON OFF www.thinklabs.in
  24. 24. H Bridge Design (Buffered) www.thinklabs.in
  25. 25. Complete H Bridge www.thinklabs.in
  26. 26. H Bridges: Integrated Circuits Darlington pairs available in IC packages : ULN XX H Bridges available in IC packages : L298, L293D, LMD1800 and many more… www.thinklabs.in
  27. 27. Driving Motors www.thinklabs.in
  28. 28. ANY QUESTIONS? www.thinklabs.in

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