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AN2350 Datasheet(PDF) 17 Page - STMicroelectronics

Part # AN2350
Description  Guidelines for the control of a multiaxial planar robot with ST10F276
PDF  41 Pages
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Manufacturer  STMICROELECTRONICS [STMicroelectronics]
Direct Link  http://www.st.com
Logo STMICROELECTRONICS - STMicroelectronics

AN2350 Datasheet(HTML) 17 Page - STMicroelectronics

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AN2350
Hardware and mechanical equipments
17/41
3
Hardware and mechanical equipments
3.1
The Dual DC motor and the power stage
Each arm of the wafer handler is controlled by a dual DC motor (see Figure 17 on page 24);
they are mounted in the same chassis with two armatures which rotate on the same axis
and having concentric drive hubs, as shown in the Figure 12.
Figure 11.
The Dual DC motor
The upper armature is connected to the outer drive hub and controls the shoulder (link 1),
while the lower armature is connected to the inner drive hub and controls the elbow (link 2)
through a drive belt with a transmission ratio of 1/2.



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