This document discusses different types of actuators used in mechatronics systems. It describes three main types of actuators: mechanical, electrical, and fluid (pneumatic and hydraulic). For each type, it provides examples and explanations of common varieties. Mechanical actuators convert one type of motion to another using components like screws, wheels, cams, and gears. Electrical actuators include motors that convert electrical energy to motion, such as AC, DC, servo, and stepper motors. Fluid actuators use compressed air or liquid to power cylinders and other devices that perform work through linear or rotary motion. The document also examines components like valves that are used to control fluid flow and pressure in pneumatic and hydraulic

1. MEKATRONIKA
Aktuator

2. What is the meaning of Actuator ?

3. Actuator Concept

4. Freedom and constraints
• A body that is free in space can move in
three independent, mutually perpendicular
directions and rotate in three ways about
those directions. It is said to have six
degree of freedom (6 DOF)
• The number of degrees of freedom are
the number of components of motion that
are required in order to generate the
motion

5. Types of Actuators
• Mechanical Actuator
• Electrical Actuator
• Pneumatic and Hydraulic Actuator (Fluid Actuator)

6. Mechanical Actuator
A mechanical actuator functions to execute movement by
converting one kind of motion, such as rotary motion, into
another kind, such as linear motion
Types of mech. Actuator :
• Screw
• Wheel and Axle
• Cam
• Gear

7. Figure 8.2 Joints with: (a) one degree, (b) two degrees of freedom
If a joint is constrained to move along a line then it has one
degree of freedom
If a joint is constraint to move on a plane then it has two
degree of freedom
Freedom and constraints

8. Cams: (a) eccentric, (b) heart-shaped, (c) pear-shaped
Fig.6.11: shows the types of
follower displacement diagrams
that can be produced with
different shaped cams
CAMS

9. Electrical Actuator
Converting Electrical energy to mechanical movement
Type of Electrical Motor :
• AC Motor
• DC Motor
• Servo Motor
• Stepper Motor

10. AC Motor

11. DC Motor

12. Servo Motor
• A servo is a small device which has an output shaft
which positions on coded signal. It is a rotary or
linear actuator that allows for precise control of
angular or linear position, velocity and
acceleration.
• The servo motor is which respond to signal
abruptly and accelerate the load quickly are called
servo motor.

13. Types of Servo Motor
• AC Servo motor
• DC Servo Motor

14. • DC Servomotors are separately excited dc motor
or permanent magnet dc motor.
• They are controlled by armature voltage
• The armature is designed to have large resistance
so that the torque-speed characteristics are linear
and have a large negative slope.
• DC servo motor provides very accurate and also
fast respond to start or stop command signals
due to the low armature inductive reactance. DC
servo motors are used in similar equipments and
computerized numerically controlled machines.

16. • AC servo motor is an AC motor that includes
encoder is used with controllers for giving closed
loop control and feedback.
• This motor can be placed to high accuracy and
also controlled precisely as compulsory for the
applications.
• Frequently these motors have higher designs of
tolerance or better bearings and some simple
designs also use higher voltages in order to
accomplish greater torque.

18. AC Servomotor
• Low power output of about
0.5W to 100W.
• Efficiency is less.
• Maintenance is less
• Stability problems are less.
• No radio frequency noise
• Compare to DC servomotor
it is relatively stable and
smooth operaion.
DC Servomotor
• Deliver high power output.
• High efficiency.
• Frequent maintenance
required .
• More problems of stability .
• Brushes produce RF noise
• It’s a noisy operation

19. • computers, toys, CD/DVD players
• Robotics
• start, move and stop conveyor belts carrying
the product along with many stages. For
instance, product labeling, bottling and
packaging
• built into the camera to correct a lens of the
camera to improve out of focus images.

20. • Automatic door openers to control the door in
public places like supermarkets, hospitals and
theatres.
• Solar tracking system to correct the angle of
the panel so that each solar panel stays to face
the sun

21. • High output power relative to motor size and
power
• Resonance and vibration free operation
• High efficiency
• High speed operation is possible

22. Stepper Motor

23. Pneumatic Actuator
Pneumatic actuator convert energy formed by compressed air at high
pressure into either linear or rotary motion
In majority of applications compressed air is used for one or more of
the following functions:
• To determine the status of processors
• Information Processing
• Switching of actuator
• Carrying out work

24. Typical Pneumatic Power System
In pneumatic
power
system
an electric
motor
drives an air
compressor.
Since the compressor increase the
temperature of the air, there likely
to be a cooling system and to
remove contamination and water
from the air, a filter with water trap
is used.
An air receiver increases the
volume of air in the system and
smoothes out any short-term
pressure fluctuations.
•A pressure relief
valve provides
protection against
the pressure in the
system rising above
a safe level.
•The air inlet to the
compressor is likely to
be filtered and via a
silencer to reduce the
noise level.

25. Advantages and distinguishing characteristics
of compressed air

26. Hydraulic Actuator
Hydraulic actuator convert energy formed by compressed fluid at high
pressure into either linear or rotary motion

27. Typical Hydraulic Power System
With a hydraulic system, pressurized oil (fluid) is
provided by a pump driven by an electrical motor.
•The pump pumps oil
from a sump through a
non return valve and an
accumulator to the
system, from which it
return to the sump.
• The pressure relief
valve is to release
the pressure if it
rises above a safe
level,
• The accumulator is
to smooth out any
short term
fluctuations in the
output oil pressure

28. Typical Hydraulic Power System
• The Accumulator Work
• Accumulator is a container in
which the oil is held under
pressure against an external
force, which involves gas within a
bladder in the chamber
containing the hydraulic fluid
• If the oil pressure rises then the
bladder contracts increase the
volume the oil can occupy and so
reduces the pressure.
• If the oil pressure falls the bladder
expands to reduce the volume
occupied by the oil and so
increases its pressure.

29. Types of Pneumatic and Hydraulic Actuators

30. The Difference Between Pneumatic and
Hydraulic

31. Hydraulic/Pneumatic linear
actuators, Cylinders
• Both hydraulic and pneumatic actuators
have the same principles, differences
being in size
• The cylinder consists of a cylindrical tube
along which a piston/ram can slide
• They are of two types:
• Single acting and double acting

32. Cylinders: Single acting
• Single acting: the control pressure is
applied to one side of the piston

33. Cylinders: Single acting
When a current passes through the solenoid, the valve switches position and
pressure is applied to move the piston along the cylinder. When current ceases, the
valve reverts to it is initial position and the air is vent from the cylinder.
Control of a single-acting cylinder with
(a) no current through solenoid, (b) a current through the solenoid

34. Cylinders: Double acting
• Are used when control pressure are
applied to both side of the piston. A
different in pressure between the two
sides results in motion of the piston
(No spring).

35. Cylinders: Double acting
Control of a double-acting cylinder with
solenoid, (a) not activated, b) activated
Current through one solenoid causes the piston to move
in one direction.

36. Cylinder sequencing
5-If A is
fully
retracted
have
piston B
retract
1- If the start button pressed;
2-piston A
extends;
3-If A fully
extended
then piston
B extends;
4- If both A and
B fully extended
then Piston A
retracts

37. Rotary actuators
• A linear cylinder can, with
suitable mechanical linkage
be used to produce rotary
movement through angles
less than 3600
•Another alternative is
shown in Fig. is called:
vane type semi rotary.
A pressure difference
between the two parts
causes the vane to rotate.

38. Process Control Valve
• used to control the fluid flow rate
• A common form of pneumatic
actuator used with process control
valve is the diaphragm actuator.
• The diaphragm is made of rubber
which sandwiched in it is centre
between two circular steel discs.
• The effect of changes in the input
pressure is to move the central part
of the diaphragm. The force F on
the shaft is the force that acting on
the diaphragm= P x A
Where P: gauge pressure =Control
pressure-atmospheric pressure
A: diaphragm area
The restoring force is provided by
spring, so kx=PA

39. Process Control
Valve
• Valve bodies & Plugs
• Fig shows a cross
section of valve for
the control of rate of
flow of a fluid.
• The plug restricts the
fluid flow and so its
position determines
the flow rate

40. Process Control Valve
• Forms of Valve Body & Plug
• Single seated: closed more tightly but required
more force
• Double seated: less force is required, less tightly

41. Process Control Valve
• Shape of the Plug: determines the relation
between the stem movement and the effect on
the flow rate
• 3 types are commonly used
• Fig shows the relation between the stem
displacement & flow rate as % of maximum

42. Directional Control Valves-1
• Pneumatic and hydraulic systems use
directional control valves to direct the
flow of fluid through a system; its
ON/OFF devices either completely open
or closed
• They might be activated to switch the
fluid flow direction by means of
mechanical, electrical or fluid pressure
signal

43. Directional Control Valves-2
Common Types:
1-Spool valve:
Move horizontally within the valve
body to control flow
•2-Rotary spool valve: have the
same idea, when rotates opens
and closes ports

44. Directional Control Valves-3
• 3-Poppet valve:
• This valve is normally in closed condition. In this valve,
balls, discs or cones are used in conjunction with valve
seats to control the flow.
•When the push-
button is depressed,
the ball is pushed out
of its seat and flow
occurs as a result of
port 1 being
connected to port 2.
When the button is
released, the spring
forces the ball back
up against its seat
and so closes off the
flow.

45. Directional Control Valves-4
• Directional valves
Free flow can only occur in one
direction through the valve, flow in the
other direction is blocked by spring.

46. Valve Symbols-1
• The valve symbol consists of square for each
of its switching positions. Thus for the
shown poppet valve there are two positions,
one with the button not pressed and one with
it pressed. Thus two positions valve will have
two squares, a three positions valve have
three squares.
Figure 7.7 (a) Flow path, (b) flow shut-off, (c) initial connections
arrow headed lines are
used to indicate the
directions of flow in each
position
closed flow lines; blocked
off

47. Ports are labeled
1 (or P) for pressure supply
3 (or T) for hydraulic return port
3 or 5 (or R or S) for pneumatic
exhaust ports
2 or 5 (B or A) for output ports
Valve Symbols-2
Symbols of Valve actuation
It indicates the various ways
the valves can be actuated
(see Fig)
Valve actuation symbols
Bolton, Mechatronics, 4th edition Pearson limited2008

48. Valve Symbols-3
Solenoid operated spool valve
The valve is actuated by a current passing
through the solenoid
and return to its original position by spring

49. • Fig. shows the symbol for a 3/2 valve, the connection
is shown for initial state i.e.
• 1(P) is connected to 2(A); 3(R) is closed.
• When the solenoid is activated, it gives the state
indicated by the symbols used in the square to
which it is attached, i.e we now have 1(P) closed and
2(A) connected to 3(R). When current through the
solenoid ceases the spring pushes the valve back to
its initial position.
•The spring movement
gives the state indicated by
the symbols used in the
square to which it is
attached.
Valve Symbols-4
A 3/2 valve Bolton, Mechatronics, 4th edition Pearson limited2008

50. • a simple example
of an application
of valves in a
Pneumatic lift
system
Valve Symbols-5
Bolton, Mechatronics, 4th edition Pearson limited2008

51. Pilot-operated valves
In pilot operated system one valve is used to control a
second valve. In the Fig the pilot valve is small size
and can be operated manually or by a solenoid.
It is used to overcome
when the force required to
move the ball shuttle in a
valve can often be too
large for manual or
solenoid operation
Bolton, Mechatronics, 4th edition Pearson limited2008

52. Pressure control valve-1
Three main types
1 Pressure limiting valve: used to limit the
pressure in a circuit to below some value
2Pressure
regulation
valve: used
to control
the
operating
pressure in a
circuit and
maintain it at
constant
value.

53. Pressure control valve-2
3-Pressure sequence valve: are used to sense
the pressure of an external line and give a
signal when it reaches some preset value.
(a) Pressure sequence valve symbol,
(b) a sequential system

54. Terima Kasih