A. What is the transfer function of the controller, motor, gearbox, arm with tor

Question

A. What is the transfer function of the controller, motor, gearbox, arm with tortion spring, and potentiometer?

B. What is the block diagram, and the closed loop transfer function angle/voltage input of the control system?

A control system shown in Figure 2 has a proportional controller. The gain Kp 2 Amp/Volt. The DC motor has a torque constant of 25 in-oz/Amp with a 10:1 ratio gearbox built in. A 350 feedback pot is connected directly to the arm shaft, 350 coresponding to 10v. Ignore the weight of the arm. The arm is loaded with a torsion spring, so that the torque-angle relationship is 1 in-oz). The angular velocity of deg/( the arm is a constant co 10 deg/sec. The total resistance torque caused by friction is 0 in-oz. Motor Set point Controller 10:1 Gear noad 0 deg OV Pot

Explanation / Answer

Actuation of a robotic element is optimally provided by an actuator that is light weight and low cost and that exhibits capabilities of high power and force or torque generation, shock tolerance, and above all, precise force control and force control stability. Actuators that are overly bulky or heavy put a strain on the other elements of the system within which they reside; the remaining actuators in the system must accommodate the weight with additional power. As robotic and automated systems continue to increase in size, complexity and functionality, the number of system components so too increases, resulting in the need for economically-priced system parts.

In addition, as the modes of interaction between robotic systems and their environments increase in freedom and complexity, high power, high force or torque generation is required to provide capabilities in a wide range of robotic load manipulation tasks. But at the same time, however, the force or torque generation must be precisely controlled to enable interaction with the robot's environment without causing damage to either the environment or the robot. Indeed, shock tolerance is required of robotic actuator systems because the chance of unexpected or unpredictable high-force interactions with task and load

A torsional spring comprising a flexible structure having at least three flat segments, each segment connected integrally with and extending radially from a central section and each segment extending axially along the central section from a distal end of the central section to a proximal end of the central section, the connection of each segment to the central section having a fillet radius that is less than about a maximum radius, rmax, which is inversely proportional to a maximum sustainable spring torque that is about the same as that maximum sustainable torque corresponding to a flat plate torsional spring having a width about equal to a sum of radial lengths of the flat segments.

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