Part

Electric motor

You might say: motor

An electric motor converts current into torque. In the linear motor model, torque is proportional to current through the torque constant until saturation and thermal limits matter.

What it does

It provides the raw speed and torque that the transmission and controller use.

Ask

What continuous and peak torque are available at the required speed and temperature?

Typical

The linear model uses torque proportional to current; winding heat grows with current squared.

Trouble

Winding temperature, current limiting, saturation or demagnetization reduce torque; a driver can trip before the task is complete.

What to look for

1. Current entering a motor
2. Torque and speed at the output
3. Winding heat or current limiting

Catalogue: Motor

• Brushless DC (BLDC/PMSM): A BLDC/PMSM motor uses electronic commutation and is common in robot servos.
• Brushed DC: A brushed DC motor commutates through brushes and a commutator.
• Stepper: A stepper motor advances in commanded steps from input pulses; in open loop it can lose synchronism under excess load.

Sources

1. Kevin M. Lynch and Frank C. Park, Modern Robotics: Mechanics, Planning, and Control, Ch. 8 §§8.9.1–8.9.2Since DC electric motors nominally provide a torque proportional to the current through the motor, this torque command is equivalent to a current command.

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