This chapter discusses different types of actuators used to control movement in robots. It describes pneumatic, hydraulic, and electrical motor systems. Pneumatic systems use compressed air and are low-cost but have limitations from air compressibility. Hydraulic systems provide greater speed and strength but require more space. Electrical motor systems like DC, AC, servo, and stepper motors offer more accuracy and repeatability than hydraulic systems. The chapter compares advantages and disadvantages of pneumatic and hydraulic actuators and describes various linear and rotary configurations for each system.

1. CHAPTER 4:
CONTROL OF ACTUACTOR

2. Learning Outcomes:
Upon completion this chapter, student should be
able:-
1. Explain of concept pneumatic, hydraulic and
motor devices
2. Compare the three actuating systems

3. Contents
1. Basic pneumatic and hydraulic system
2. Basic electrical motor system

4. Basic pneumatic system
 Pneumatic drive: are generally used for smaller
robots. These robots, with fewer degrees of
freedom, carry out simple pick-and-place material
handling operations.

6. Advantages and disadvantages of
Pneumatic Actuators.
Advantages:
 low cost;
 high speed of moving;
 ease at reversion
movements;
 high reliability of work;
 explosion and fire safety;
 ecological purity
Disadvantages:
 compressibility of the air ;
 impossibility to receive
uniform and constant
speed of the working
bodies movement
 difficulties in performance
at slow speed
 limited conditions - use of
compressed air is
beneficial up to the definite
values of pressure
 compressed air requires
good preparation.

7. Basic hydraulic system
 Hydraulic drive: gives a robot great speed and
strength. These systems can be designed to actuate
linear or rotational joints.
 The main disadvantage of a hydraulic system is that it
occupies floor space in addition to that required by the
robot.

8. Types of hydraulic actuator
 Linear actuator (hydraulic cylinder)
 Provides motion in straight line
 Linear displacement depends on stroke length (length of
actuator)
 Usually referred to as cylinders, rams (single acting
cylinders) or jacks (cylinder used for lifting)
 Rotary actuators (Hydraulic motors)
 Produces continuous rotational motion
 Pump shaft is rotated to generate flow, a motor shaft is
caused to rotate by fluid being forced into the driving
chambers

9.  Semi rotary actuators
 Produces non-continuous rotational motion
 Limited to less than one revolution (<360°)
 Used to produce oscillatory motions in mechanisms.

10. Linear hydraulic actuator
 Single acting cylinder
 Double acting cylinder
 Displacement cylinder

11. Single acting cylinder

12. Double acting cylinder

13. Displacement cylinder

14. Rotary hydraulic actuators
 Gear motor
 Vane motor
 Swash plate type piston motor
 Bent-axis type piston motor

15. Gear motor

16. Vane motor

17. Swash plate type piston motor

18. Bent-axis type piston motor

19. Semi rotary hydraulic actuators
 Vane actuator
 Piston types or lever arm actuator
 Rack and pinion actuator
 Chain and sprocket actuator
 Helical screw actuator

20. Vane actuator

21. Piston types or lever arm actuator

22. Rack and pinion actuator

23. Chain and sprocket actuator

24. Helical screw actuator

25. Basic electrical motor system
 Electric drive: compared with a hydraulic system, an
electric system provides a robot with less speed and
strength.
 more accurate, exhibit better repeatability, and are
cleaner to use.

26. DC motor

27. AC motor

28. Servo motor

29. Stepper motor

31. THANK YOU