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Actuators

actuators

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Actuators

  1. 1. Actuators in RobotsActuators in Robots
  2. 2. (1)Hydraulic Actuators (2)Pneumatic Actuators (3) Electrical Actuators (4) Micro Actuators (1)Hydraulic Actuators (2)Pneumatic Actuators (3) Electrical Actuators (4) Micro Actuators
  3. 3.  As the name suggest these actuators can use pressurized fluids normally oil at different flow rates to obtain desired force at a particular speed. Hydraulic systems operates in the pressure range of 60 bar to 200 bar  As the name suggest these actuators can use pressurized fluids normally oil at different flow rates to obtain desired force at a particular speed. Hydraulic systems operates in the pressure range of 60 bar to 200 bar
  4. 4.  Cylinders (single acting and double acting) Special cylinders like telescopic cylinders. Hydraulic motors Vane pump Gear pump  Cylinders (single acting and double acting) Special cylinders like telescopic cylinders. Hydraulic motors Vane pump Gear pump
  5. 5. Gear motor
  6. 6. Types of
  7. 7.  High load carrying capacity Low actuator inertia Simplified design of system. High flexibility High speed at high load  High load carrying capacity Low actuator inertia Simplified design of system. High flexibility High speed at high load
  8. 8.  High cost. Leakage . Effect of oil temperature on performance. Some times compactness is a “issue”.  Resolution is less.  High cost. Leakage . Effect of oil temperature on performance. Some times compactness is a “issue”.  Resolution is less.
  9. 9.  compressed air is readily available in factories. Compressed air can be stored and conveyed to long distance. Compressed air need be returned to sump. Operation is fast. Less costly than hydraulic system. Pneumatic elements are simple and reliable.  compressed air is readily available in factories. Compressed air can be stored and conveyed to long distance. Compressed air need be returned to sump. Operation is fast. Less costly than hydraulic system. Pneumatic elements are simple and reliable.
  10. 10.  Motors(AC/DC). Servo Motors (AC/DC). Relays and solenoids. Linear motors and linear servo motors.  Motors(AC/DC). Servo Motors (AC/DC). Relays and solenoids. Linear motors and linear servo motors.
  11. 11. High performance control can be achieved at low cost. Wide range of motor sizes and capacity are available. Accuracy ,reputability of electric drives are excellent. Electric actuators are always compact . Can be customized easily. High performance control can be achieved at low cost. Wide range of motor sizes and capacity are available. Accuracy ,reputability of electric drives are excellent. Electric actuators are always compact . Can be customized easily.
  12. 12. Limited choice of gear box.  provide Less power as compared to hydraulic actuator. Motor and gear box inertia may be high. Backlash of drive gears may introduce error in movement. Sometimes costly circuit system is needed. Limited choice of gear box.  provide Less power as compared to hydraulic actuator. Motor and gear box inertia may be high. Backlash of drive gears may introduce error in movement. Sometimes costly circuit system is needed.
  13. 13. Concept Pneumatic Oil Hydraulics Electrical Prime mover Compressor Pump Electric motor Medium Compressed air Hydraulic oil Electricity Storage Reservoir for compressed air Reservoir of oil No storage ,except batteries. Magnitude of Energy Up tp 12 bar 60-200 bar avg 400 bar max up to thousands of KW
  14. 14. Concept Pneumatic Oil Hydraulics Electrical Transmission By way of tubing By Way of piping By way of cables and wires. Transportation over distance Easy Difficult Easy Cost of Energy High compared to Electrical energy, but low compared to hydraulic High when compared to Electrical energy and pneumatic Low Environment /temperature /humidity Not sensitive to environment and temp. Sensitive Not sensitive, except use of semiconductor devices
  15. 15. Concept Pneumatic Oil Hydraulics Electrical Contamination Less compared to hydraulics More Vey Less, except that of insulation Mechanical Motion: Linear/Rotary Both linear and rotary can be achieved Both linear and rotary can be achieved Easy to achieve rotary motion, difficult to achieve linear Power to weight ratio Low Very low better Compactness Moderate Low Can be highly compact

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