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Stepper motors are constructed using strong permanent magnets and electromagnets. The permanent magnets are located on the rotating shaft, called the rotor. The electromagnets or windings are located on the stationary portion of the motor, called the stator. Figure 10.3 illustrates a stepper motor stepping through one complete rotation. The stator, or stationary portion of the motor, surrounds the rotor. In Fig. 10.3, position 1, we start with the rotor facing the upper electromagnet that is turned on. To move in a clockwise (CW) rotation, the upper electromagnet is switched off as the electromagnet to the right is switched on. This causes the rotor to rotate 90 degrees to align itself to the electromagnet in a CW rotation, shown in position 2. Continuing in the same manner, the rotor is stepped through a full rotation until we end up in the same position as we started, shown in position 5.

The degree of rotation per pulse is the resolution of the stepper motor. In the illustrated example of Fig. 10.3, the rotor turned 90 degrees per pulse, not a very practical motor. A practical stepper motor has a greater resolution (smaller steps), for instance, one that rotates its shaft 1 degree per pulse (or step). This motor requires 360 pulses (or steps) to complete one revolution. When a stepper motor is used for locomotion or positioning in a linear motion table, each step of the motor translates to a precise increment of linear movement. Assume that one revolution of the motor is equal to 1" of linear travel. For a stepper motor that rotates 3.75 degrees per step, the increment of linear movement is approximately 0.01" per step. A stepper motor that rotates 1.0 degrees per step would give approximately 0.0027" per step. The increment of movement is inversely proportional to the degrees per step.

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* Peter F. Drucker with Joseph A. Maciariello, The Daily Drucker (New York, Harper Business, 2004), p. 77.

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IN THIS CHAPTER WE WILL LOOK AT A FEW MOVEMENT AND drive components that may be used in robots. All the components discussed in this chapter either have sample circuits contained in this chapter or are used in robots elsewhere in this book. Here is a list of the components we will work with: air muscles, nitinol wire, stepper motors, geared direct current (DC) motors, servo motors, and solenoids.

To order L, the regularized function q;~ already renormalized up to order L - 1 reads.

reposition, the problem you face will be obvious, and the solution to the problem will be obvious. But people tend not to see the obvious. General Motors need to reposition itself has been obvious for decades, as its market share has declined year by year over a quarter of a century. To dramatize this, here s what I wrote in 2001 in a book entitled Big Brands. Big Trouble. It wasn t a prediction that came true. It was an obvious observation.

An air muscle is a simple pneumatic device developed in the 1950s by J. L. McKibben. Like biological muscles, air muscles contract when activated. An interesting fact about air muscles is that they provide a reasonable working copy of biological muscles, so much so that researchers can use air muscles attached to a skeleton at primary biological muscle locations to study biomechanics and low-level neural properties of biological muscles. In published papers, air muscles are also referred to as McKibben air muscles, McKibben pneumatic artificial muscles, and Rubbertuator. I will refer to them simply as air muscles.

Air muscles have applications in robotics, biomechanics, artificial limb replacement, and industry. The principal reasons why experimenters and hobbyists will like air muscles are their ease of use (as compared to standard pneumatic cylinders) and their simple

construction. Air muscles are soft, lightweight, and compliant; they have a high power-to-weight ratio (400:1); and they can be twisted axially and used on unaligned mountings and provide contractive force around bends.

With the declining market share, it s not surprising that some years ago the board revolted and ejected top man-

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