Electro-mechanical actuators for robotics and positioning - Design, power supply and operation

Electromechanical actuator technology is based on a wide variety of physical processes. While electrodynamic effects, based on the interaction of electromagnetic fields and sources, provide the most conventional solutions for producing force or motion from a source of electrical energy, the idea of using the deformations produced within certain types of materials, known as electroactive materials, is an increasingly credible alternative, particularly in the case of distributed electromechanical actions (intelligent structures).

Based on the classification of processes and structures set out in the previous dossier [D 5 341] , the present dossier specifies the conditions for implementing the corresponding technical solutions.

The elements of actuator design and dimensioning are the subject of the first part. The electronic power supply techniques used to drive the various inductive or capacitive armature structures are then examined. Finally, the control laws used to control the actuator according to different strategies (speed position or force control) are the subject of the last part (see files on asynchronous machines [D 3 620][D 3 622] and [D 3 623] ).