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ST Robotics uses technology which is based on hybrid stepping motors as opposed to the more usual DC servo motors. For some years the technology had problems from lack of power and motor resonance. These problems were solved with the advent of rare–earth hybrid motors, high voltage micro-stepping drives and incremental encoder feedback.
The type of motor is not critical to a servomotor, and different types may be used. [12] At the simplest, brushed permanent magnet DC motors are used, owing to their simplicity and low cost. Small industrial servomotors are typically electronically commutated brushless motors. [13]
The servo is controlled by three wires: ground, power, and control. The servo will move based on the pulses sent over the control wire, which set the angle of the actuator arm. The servo expects a pulse every 20 ms in order to gain correct information about the angle. The width of the servo pulse dictates the range of the servo's angular motion.
The grey/green cylinder is the brush-type DC motor. The black section at the bottom contains the planetary reduction gear, and the black object on top of the motor is the optical rotary encoder for position feedback. Small R/C servo mechanism. 1. electric motor 2. position feedback potentiometer 3. reduction gear 4. actuator arm
These motors reduce efficiency and add unnecessary weight and cost to the robot. SIGMO attempts to alleviate these symptoms by providing a system which uses no motors for locomotion, instead employing passive-dynamic technology. Passive-dynamic systems cite low power consumption, high durability, and low cost.
A servomotor is a packaged of several components: a motor (usually electric, although fluid power motors may also be used), a gear train to reduce the many rotations of the motor to a higher torque rotation, a position encoder that identifies the position of the output shaft and an inbuilt control system. The input control signal to the servo ...
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