Intelligent Components for Miniature Drive Systems in Robotics

For small robots as used in service or humanoid robotics, miniature drive systems with high functional density are needed. A novel motor series with a very rugged design, high power density and a low slope of the n/M-curve is presented. Encoder systems to be fitted with the motor are also discussed: Magnetic single chip absolute encoders are compared to linear hall sensors with appropriate signal processing up to 3000 steps per revolution. Finally, a CANopen-compatible motion controller is shown that could be reduced in size to fit into an encoder housing, not protruding over the 22 mm diameter of the motor. With intelligent components tailored to each other, a miniature drive system with highest functional density can be created.