1. liacs [HW] Jan 2015 actuators

2. devices – machines – apparatusses electrical control of physical events light – lamp – led – lcd movement – electromagnetism – coil, relay – motor – servo – speaker – piezo heat – nitinol

3. how much power / how many Watts one Watt is the rate at which work is done when an object's velocity is held constant at one meter per second against constant opposing force of one newtonvelocitynewton one Watt is the rate at which work is done when one ampere (A) of current flows through an electrical potential difference of one volt (V) determined by both voltage and current: P [W] = U [V] * I [A]workamperepotential differencevolt relations between physical quantities: hyper physicshyper physics examples – earphone 10..100 milliWatt – LED: 50 mW – resistor: 0.25 W ( V * I < 0.25) – relay: 200…500 mW – power LED 1W – human: 100..200 W – lamp 1…1000W (1 KW) – car: 9KW (Citroen 2CV).. 880KW (Bugatti, 2012)

4. Output deviceAmperesVoltsWattsac/dc vu meter1E-041 dc led0.022.20.05dc headphone0.0530.15ac electromagnet small0.150.5dc small toy motor0.150.5dc servo (light)0.251dc PC fan0.1121.2dc stepper motor small0.552.5dc servo (heavy)2612dc stepper motor large21224dc cooling fan0.224048ac automobile headlight51260dc incandescent lamp0.2524060ac electromagnet large524120dc PA speaker 15"540200ac vacuum cleaner62401440ac electric heater, stove102402400ac Arduino output power: board +5V: max. 300mA.. 1A @ 5V single output pin: max 40..70mA @ 4V

5. light

8. LED matrix

9. led strips / chains – adafruit – sparkfun - ebay RGB pixel addressable (shift register) RGB strip: connected per color common anode(+) / common cathode(-) constant current driver / buck regulator

10. PWM - pulse width modulation percieved brightness is not linear to duty cycle

11. led PWM controllers adafruit 12- or 16 bit PWM – better dynamic range than the 8 bit PWM from Arduino – 2 wire interface (SPI) – high speed refresh w/o using processing power – software selectable led current control – general brightness control

13. TSOP1738 / 1736 infrared receiver @38(36)KHz

14. switching 240V AC (mains) Arduino remoteswitch library / 433MHz Tx module or hack: www.paulk.nl/actionremotewww.paulk.nl/actionremote

15. solid state relay -zero cross switching -no sparks -quiet -easy interface (LED)

18. electromagnetism

21. relay

24. DC Motor Rotation http://hyperphysics.phy-astr.gsu.edu

27. motor controlled events – position (wheel, cable, belt, rope) – rotation – force (linear motor) – lock / unlock – vibration (pager) – air stream (fan) – pressure (hydraulics) – fluids (pump) motor type – RPM, geared / ungeared – AC / DC – power ( Watts, NM ) how to get one – video recorder, dvd player, printer, scanner, disk drive – 250AC household: mixer, fan, – toy – tools (electric screwdriver, drill) – RS components RS components – Pollin surplus, Germany Pollin surplus, Germany

28. servo

29. -needs a continuous series of pulses -arduino library (Servo) available -may need >> 300mA current (up to 2A) when blocked or loaded -use extra supply + voltage regulator, common ground

31. stepper motor

32. unipolar / bipolar operation

34. motor control – LN2003/2803 : on/off control transistor darlington array 8 x 500mA max up to 30V – L293 : direction and on/off, low power dual H-bridge max 500mA / output http://www.ti.com/lit/ds/symlink/l293d.pdf L293D has internal protection diodes – L298 dual H-bridge http://www.st.com/st-web- ui/static/active/en/resource/technical/document/datasheet/CD00000240.pdf http://www.st.com/st-web- ui/static/active/en/resource/technical/document/datasheet/CD00000240.pdf max 40V, total current 4A – pololu controller supports microstepping current control, pot adjustable L/R en Step inputs (only 2 wires + GND) http://www.pololu.com/product/2128

35. L298 breakout board

37. sound laser (mirror) non-newtonian fluid arduino synth speaker

38. muscle wire - nitinol good: no moving parts, changes length or shape, silent bad: takes high current, gets hot, slow release, one way