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DC Motors
The most common actuator you w ill use (and the
most common in mobile robotics in general) is the direct
current (DC) motor. They are simple, cheap, and easy to 將貿興業有限公司
use. Also, they come in a great variety of sizes, to 齒輪 齒輪箱 螺桿 料管 押出
accommodate different robots and tasks. DC motors 機零件 風環 鏡面輪
www.gmx.c om.tw
convert electrical into mechanical energy. They consist of
permanent magnets and loops of w ire inside. W hen
current is applied, the w ire loops generate a magnetic
field, w hich reacts against the outside field of the static
magnets. The interaction of the fields produces the
movement of the shaft/armature. Thus,
electromagnetic energy becomes motion. As w ith any
physical system, DC motors are not perfectly efficient,
m e a n i n g that the energy is not
converted perfectly, w ithout any w aste.
Some energy is w asted as heat
generated by friction of mechanical
p a rt s . Inefficiencies are minimized in w ell-designed
(and more expensive) motors, and their performance
can be brought up to the 90th percentile, but cheap
motors (such as the ones you may use) can be as low
as 50%. (In case you think this is very inefficient,
remember that other types of effectors, such as
miniature electrostatic motors, may have much low er
efficiencies still.) A motor requires a pow er source
w ithin its operating voltage, i.e., the recommended
voltage range for best efficiency of the motor. Low er
voltages w ill usually turn the motor (but provide less
pow er). Higher voltages are more tricky: in some cases
they can increase the pow er output but almost alw ays
at the expense of the operating life of the motor. E.g.,
the more you rev your car engine, the sooner it w ill
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