Robotics Actuators

This lecture covers the different types of actuators used in robotics, including hydraulic, pneumatic, and electromechanical actuators. It explains the advantages and disadvantages of each type, such as power-to-weight ratio, speed, and cost. The lecture also delves into specific examples of actuators, like linear and rotary hydraulic actuators, and the use of pneumatic actuators for on-off movements. Additionally, it discusses the characteristics of stepper motors, permanent magnet stepper motors, and reluctant stepper motors. The lecture concludes with a comparison of specific energies and the main types of electromechanical actuators, such as stepper motors and continuous current motors.