圈上话衣大峰 Actuators:Types Energy Domain Actuator Pros Cons Comments DC Motor:Brush Cheap,High Resolution,Closed-oop operation,Wear and debris due to brushes DC Motor:Brushless Low-maintenance,Extra drive electronics,Costly Stepper Motor (Most Cheap,Open-loop operation,cogging.limited resolution Electro- widely used motor) magnetic AC Motor All ranges of load and power density.Particularly suited for high load/power.Good for velocity control but not position control (e.g.household fans). Voice Coil Small Range,High resolution,closed-loop control Linear motor Expensive,Large Range,High resolution (AC/DC/Stepper) Hydraulic Hydraulic piston- High speed and power-density.Harsh environments, cylinder high cost,extra maintenance and overhead Pneumatic piston- Ideal for harsh environment,limited speed to due to Pneumatic cylinder compressibility,best for on/off operation,overhead(air. supply system) Chemical IC Engine,Steam/Gas Very high power density.thermal management is a Turbine,Aircraft Combustion challenge,good for remote /stand-alone applications Engine,Rockets Piezoelectric PZT stacks Very small Range,ultra high precision,high force capacity Biological Muscles High dexterity and flexibility,Limited load/power capability,limited precision and control Power/Energy Converters ·Rotary >Electrical Input->Mechanical Rotary Motion/Torque =DC Motor(直流电机) =AC Motor(交流电机) =Stepper Motor(步进电机) >Combustion->Mechanical Rotary Motion /Torque =Gasoline Engine(发动机) =Gas Turbine(燃气轮机) 87 Actuators: Types 8 Power/Energy Converters • Rotary Electrical Input -> Mechanical Rotary Motion/Torque =DC Motor（直流电机） =AC Motor（交流电机） =Stepper Motor（步进电机） Combustion -> Mechanical Rotary Motion /Torque =Gasoline Engine（发动机） =Gas Turbine（燃气轮机）