April 5, 2016

Motor Module

Another fairly unsubstantial post (as far as technical details are concerned), but pretty pictures.  I promise there'll be more science in the future.

Here's a motor + gearbox + position sensor + controller module assembled:



Cute feature:  The FETs on the bottom of the board heatsink to the flat spot on the gearbox.


At the other end is a small diametrically magnetized cylindrical magnet, glued to the rotor, and MA700 chip sensing magnet orientation.




Here's it spinning with the gearbox open.  Nice sound of dry-running spur gears:



4 comments:

  1. I'LL TAKE 12, PLEASE! No, really, I wish low impedance high-force modules like this were commercially available, I'd totally use them for research or my own projects. Soo good!

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  2. Very cool work. You are doing what I have only been thinking about.

    //Gimbal.

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  3. hey, awesome work you're doing there!

    I would have a question regarding the encoder bit. How do you really know where the output shaft is, if you're only measuring the the position of the rotor shaft? I mean, the rotor shafts position measurement with your gearing can mean that the output shaft is in one out of five different positions.

    Keep up the awesome work, thanks!

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    Replies
    1. The leg is turned on in a known configuration (against some hard stops), and it keeps track of how many full rotations have happened.

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