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Mini line follower Robot
Construct it yourself at home!
By Ibrahim Kamal
Last update: 15/4/08 Table of content:
Overview
Overall design
The chassis
The wheels
Motors and power transmission
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main board of the robot, where some supports for the wheels
- also made of small parts of copper boards - are soldered
to it. All the motors, and the skids are mounted on the main
PCB. For an electronics hobbyist, PCB manufacturing is a skill
that will
be learnt sooner or later,
so this design lets you use your experience in PCB manufacturing
to design a high precision chassis for your robot. Sensorless
Stepper Motors Driver ICs - AMIS-30521 and AMIS-30522
Posted in Actuator, Motor & Motion Control
On Tuesday, June 19, 2007
AMI Semiconductor announced AMIS-30521 and AMIS-30522 stepper
motor drivers ICs. The new motor drivers eliminate the need
for switches, flyback diodes, Hall sensors, and many passive
components, reducing component count and cost in dynamic motion
applications. Application of this stepper motor drivers ranging
from headlamp positioning systems and surveillance cameras
to automated pick-and-place systems, textile machines, vending
machines and stage lights.
Guido Remmerie, AMIS,
stated: anyone do you have a schematic for tv signal amplifier
that does not use bfr or bfw transisitors
JVL has developed the
smallest step motor driver to date, SMD73. The Driver measures
only 52.4 x 52.4 mm and can be directly mounted on the motor.
It fits onto most types of high-torque motor, and can of course
also be mounted on a surface.
The PCB is equipped with an 8-pin connector. 4 terminals are
used for the motor connection, 2 for the external power supply,
and 2 are used to control the motor via step-pulse and direction
signals. The Driver supplies 2.6A RMS in each phase, and current
is automatically regulated to 0.8A when the motor is not receiving
step pulses. The Driver controls the motor in half-step mode,
which results in 400 steps/rev. The Driver can handle up to
20 ksteps/sec and a "half-step" current regulation
ensures that the current is increased by a factor of 1.4 every
second step in order to yield maximum motor torque.
The Driver can be powered from 15-28VDC up to 5A. It is equipped
with a green LED which indicates that power is on, and a red
LED which indicates an error condi-tion.
For other applications, the Driver is available with step
resolutions of 1/1, 1/4, 1/8 steps/rev., and with selectable
motor current.
Stepper motor driver JVL
A wide range of step and ministep motor drivers for every
application. JVL´s Step Motor Drivers are available as basic
models controlled by external step-pulse and direction signals,
and extended models with built-in step generator.
The range of drivers covers motor currents from 0 to 12A/phase
and driver voltages from 15V to 160V.
All drivers can be directly connected to PLC´s equipped with
step motor capabilities.
Clock source internal
or external
Control inputs to inhibit
internal clock, inhibit motor current, exchange direction
• Bipolar step motor driver
• Potentiometer set phase current from
0.25 to 1.4 Amp RMS (2.0 Amp peak)
• Selectable step resolution from full step
to 8X microsteps
• Optically isolated step direction,
and disable/enable inputs
• Automatic current reduction with disable switch
• Low power dissipation
• Efficient current control
• Quiet operation
• Thermal shutdown, under-volt protection
Step Resolutions from Full to 256 microstepping
Hold current reduction capability with adjustable current
and timeout settings
Three optically isolated control inputs and one optically
isolated control output
Pole Damping™ Technology
R325I & R325IE additional
features
Configuration parameters stored in non-volatile memory
Multiple module control through software assigned single character
addresses
Built-in control routines for trapezoidal position and velocity
moves
What is Pole Damping™
Technology?
Pole Damping™ Technology (PDT) enhances step motor performance
by dampening each full step in order to create a more accurate
and smooth motion profile. Microstepping the step motor will
optimize Pole Damping™ Technology. PDT outputs the correct
amount of run and hold currents to the motor. Thus, it will
overcome the step motor’s natural tendency to want to forcefully
pull towards the full step ON position.
Currently, the Silverpak
23D integrated motor + drive and the R325 Microstepping Driver
contain Pole Damping Technology.
· programmable mode with host
· manual mode with Joystick
· ASCII command interpreter
· On Board macro commands
· Closed Loop interface RS422 or 1Vpp
· Digital Input/Output
· Position synchronous output (PSO)
· event controlled point of interest memory
· Analog output
· RS-232 Interface
· Ethernet Interface 10/100
· IEEE 488 Interface
· Position display
· 19 inch cabinet available
· Windows User Interface (WinPos)
Stepper motor driver RTA
GMH is the name of a series of ministep bipolar chopper drives,
suitable for driving two-phase stepping motors, with four,
six or eight terminals.
GMH drives are realized in single EUROPA format cards (100
x 160 mm.) and are equipped with a 32 pole, DIN 41612 form
D connector. They are therefore designed to be assembled inside
a RACK, complete with motherboard, that could be supplied
as an option by R.T.A.
Power stages are used
in the driver unit to produce a current signal out of a directional
signal and a clock signal. This sets the stepper motor in
the desired rotation.
SINCOS
Linear Stepper Motor Power Stage with Variable Current Profile
SINCOS is a linear stepper motor power stage particularly
developed for applications which require high step resolution,
such as: measuring tables, machine tools, graphic instruments,
etc.
Technical Details
* Linear power stage for two-phase stepper motors, with 4,6
or 8 leads
* Maximum phase current: 2.5A (with cooling), 1.5A (without
cooling)
* Drive and stop current continuously adjustable from 0 to
100%
* Selectable phase current profiles: sine-shaped, triangular
or trapezoidal
* Supply voltage +20VDC and -20VDC
* Step resolution selectable from full step to 1 / 20 step
* Inputs TTL: Control pulses, Motor direction, Motor stop,
Motor current OFF, Select, Reset
The 160V driver, SMD42
is physically similar to the popular SMD41 mini-step driver,
but is intended for high-velocity, high-torque applications.
The SMD42 can be powered by a 160VDC supply (compared to 80VDC
for the SMD41). This yields up to double the torque at velocities
over 500RPM. Heat generation is kept to an absolute minimum
through the use of the latest MOSFET technology.
Together with JVL step
motor MST 340-342, the 160 V version, SMD42, achieves a remarkable
torque of 7-8Nm even at high velocities.
am engineering student working on a single phase full bridge
converter to operate in 4 modes namely: dc to dc, ac to ac,
ac to dc and dc to ac using IGBTs. input voltage 230v ac and
120v DC and output 0 to 250V ac and 0 to 250v DC.I shall be
be very greatful if i can get help from anyone Thanks
A growing number of processing, automotive, security, and
building automation applications rely on stepper motors to
deliver dynamic motion…
In case you're not familiar with line following algorithms,
it is recommended that you read that tutorial about line tracking
sensors and algorithms before reading this article.
2 Front skid
3 Free Wheel, shaped as a pulley
4 Plastic pulley
5 Battery holder
6 Pipe clamp use to hold the motors
7 Ni-Cd 7.2V battery pack
8 1200 rpm 6V motor
It is clear that the drive
train of this robot is differential type, meaning the two
rear wheels are responsible of moving the robot forward and
backward, but are also used to turn the robot in any required
direction depending the difference of speed between the right
and left wheels.
The first thing that need
some explanation is the fact that there are only 2 wheels,
Well, while not being the best thing to do, a caster wheel
can sometimes be replaced with a skid, when the robot weight
and size are not important, and when the robot is designed
for indoor environment, where the robot can move on relatively
smooth surfaces, where friction wont be a serious problem.
It may seem strange that
the battery was placed on the top of the robot, and it is
actually an important mistake, as a battery at that height
totally destabilize the robot because it raises the center
of gravity, increasing the moment of inertia. For more information
about robot stability and moment of inertial read this tutorial.
For this size of robot, a smaller li-ion battery, placed beneath
the robot, would have given much better results.
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