Motors
An electric motor is an actuator—a device which transforms electric power into
mechanical power. The motor converts signals from the controller into rotations
of its shaft.
A robot arm such as the SCORA-ER 14 imposes severe requirements on the
actuators, such as the following:
•
The robot motor must rotate at different speeds, and with a high degree of
accuracy. For example, if the robot is to be used for a spray painting
application, it must be able to accurately follow the defined path at the
specified speed.
•
The robot motor must allow fine speed regulation so that the robot will
accelerate and decelerate as required by the application.
•
The robot motor must supply large torques throughout its speed range and
also when the joint is stationary.
•
The robot motor must be able to stop extremely quickly without overshooting
the target position, and perform rapid changes in direction.
•
Since mounting motors on the robot arm adds to the robot’s weight and
inertia, the robot
motors must be light
and compact, yet
powerful. As shown
in Figure 6-4, the
motors of the
SCORA-ER 14
are
located close to the
axes they drive.
Figure 6-4: Motor Locations in SCORA-ER 14
User’s Manual 6 - 3 SCORA-ER 14
9603
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