These days robot activator system of course has applied muscle cable ( muscle wire) but mostly a lot still remain to applies motor as prime mover to remember torsion from muscle cable still too low. DC motor is motor having speed of high rotary. With addition gearbox, hence this motor applicable to move parts of robot requiring big torsion like at part to implement the robot.
Part of this is part executing command from CPU>Central Processing Unit Board activity what would which must be done at motors DC at part of mechanic of the application of this robot.
At part of port that is connect with good motor of motor 1 and motor 2 there is output of VCC and GND which is pole source of tension 5 Volt and 0 Volt for operation of DC motor using rotary encoder. Pin Encoder is modulation has happened result from rotation of DC motor using rotary encoder. Function of rotary encoder is to count rotation which already happened at motor. Modulation from rotary encoder is entering through foot/feet Encoder will be continued towards to CPU>Central Processing Unit Board through foot/feet Right Encoder and or Left Encoder at Port CPU>Central Processing Unit.
DC Driver also has breakdown voltage protector protecting electronic system from back tension as result of rotation of DC motor. Also there is circuit gate avoiding condition of ON from all the transistors so that system protected from condition of linking is brief often happened at system half bridge.
DC Driver is part of controller module or can be analogy as executor from command received by Robot CPU. In DC Driver there is circuit Half Bridge equipment with by preventative circuit gate the happening of linking brief.
Half Bridge is a network applied to control a DC motor so that hinged be unidirectional and or anti clockwise. Activity principle Half Bridge is arranges current stream at DC motor. If current stream is returned by hence DC motor will rotate towards on the contrary. Simple circuit Half Bridge can be built by two switches SPDT like the one seen at picture following.
Now seen that switches S1 connects pole on the top motor to positive pole source of battery, and S2 connects pole in motor underside to negativity pole source of power battery so that current at motor flows from the top of downwards. To change rotation of motor by making a change direction of current stream is done with moving position of S1 and at the same S2 so that motor top connected at negativity pole battery and undercarriage to positive pole.
Picture 3 shows network Half Bridge which more complex and is ½ part of Delta DC Driver. Switches S2 is replaced with transistor circuit type NPN that is transistor TIP41 and C9014 while switches S1 is replaced with transistor network type PNP that is TIP42 and C9012. Position of switches S1 is represented with position of which p-n p transistor is active while position of switches S2 is represented with position of which active n p-n transistor.
If active left p-n p transistor, hence right n p-n transistor also active while PNP xenon right must be active and left NPN of active xenon. Current will flow from positive resource to pin 3 JP4 which connecting at motor pole and continued to be finite of foot/feet 4 JP4 to negative resource or ground. On the contrary at the time of active right p-n p transistor, hence left n p-n transistor also active while left PNP xenon must be active and right NPN also active xenon. Current will flow from resource to pin 4 JP4 and always towards to negative resource passed pin3.
