Design of the robot : Standart Components
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DC motor :
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The chosen componant is a Micromotors DC gear-motor, model : L149.6.21.
Advantages : cheap, small, it can bear a 10 N radial weight .
The chosen solution of assembly is to fix the wheel directly on the rotor arm with a screw on the flat side of the shaft. The motor is mounted on the plate with two front-face holes.
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Data sheet :
Micromotors
série L149 (Pdf, 40 Ko)
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Modeling :
Draft of the DC gear-motor (Pdf, 69 Ko)
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The Servomotor :
The arm of the robot is fitted
with four servomotors. They allow the three rotations of te arm
as well as the tightening of the gripper.
The chosen model is a very compact Multiplex model (Tiny-S).
The advantages of this reference is its small size (30 x 12 x 30 mm) together with an good torque (26 Ncm).
Its lightness (17 g) also makes it possible to limit the couple coming from the weight of the arm.
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Data sheet :
Extract of Multiplex documentation : servomotors
(Pdf, 41 Ko). Page presenting each model principal caracteristics of constructer's analogic servomotors.
Example applications are given for each reference.
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Notes regarding the installation and operation of servos :
Extract of Multiplex documentation : important terms
(Pdf, 34 Ko). Page explaining caracteristics, selection criterias and
utilisation advices to optimize period of use and reduce consumption.
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Modeling :
Draft of the servomotor (Pdf, 83 Ko)
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