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Week 04: Motion & Actuation β€” Servos, Stepper Motors, and Mechanical Linkages

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descriptionElectromechanical actuation, PWM servo control, stepper motors, H-bridges, and Theo Jansen kinetic linkages.
tagsdda657, lecture, motors, servos, stepper-motors, kinetic-mechanisms, jansen-linkage

Description

Controlling physical movement. Students explore electromechanical actuators: continuous and positional servo motors, high-torque stepper motors, and kinetic linkages.

Key Topics

  • Actuator Selection: DC motors vs. PWM Hobby Servos vs. Bipolar Steppers (A4988 / TMC2209 drivers).
  • Kinetic Linkage Geometry: Theo Jansen’s 11-rod linkage mechanism and mechanical walking gaits.
  • External Power & Isolation: Safe power distribution, flyback diodes, transistor switching (MOSFETs), and motor supply rails.

References & Wiki Links

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