Professional Documents
Culture Documents
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Actuators
Linear actuators, (hydraulic and pneumatic cylinders).
Rotary actuators, (hydraulic and pneumatic motors),
either uni-directional or bi-directional providing
torque for rotary movement.
fixed rotary actuators that give a set motion of 90 deg.
to 180 deg. rotation in back and forth motions.
Rack and Pinion type where there are opposing
cylinders moving back and forth across a rack and
pinion which in turn produces a rotating motion output
at a preset rotational movement.
The critical part of applying any actuator is
understanding first what you want it to do, how much
power you will need to accomplish the task and how
to functionally create the circuit needed to control it.
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Hydraulic Cylinders
Cylinders are linear actuators which convert fluid power into
mechanical power (JACKS or RAMS).
Hydraulic cylinders are used at high pressures and produce
large forces and precise movement.
Constructed of strong materials such as steel
Designed to withstand large forces.
Pneumatic Cylinders
Pneumatic cylinders are limited
to about 10 bar pressure (low
pressure).
constructed from lighter
materials such as aluminium and
brass.
Because gas is a compressible
substance, the motion of a
pneumatic cylinder is hard to
control precisely
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Cylinder types
Single acting
work can be done only in one direction
Plunger
Piston
Fast moving
Telescopic
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Cylinder types
Double acting piston
Work is done in both directions
Piston rod on
both sides
Tandem
Fast moving
Telescopic
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FORCE
The fluid pushes against the face of the piston and produces a
force.
F = pA
p is the pressure in N/m2 and
A is the area the pressure acts on in m2 .
This assumes that the pressure on the other side of the piston
is negligible.
For double acting cylinder the pressure on the other side is
usually atmospheric so if p is a gauge pressure we need not
worry about the atmospheric pressure.
Force in cylinders
Outward: FC 0 = A1 p1 − A2 p2 A1 A2
p2 vB
Backward: FCB = A2 p2 − A1 p1
p1
v0
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SPEED
The speed of the piston and rod depends upon the flow rate
of fluid.
The volume per second entering the cylinder must be the
change in volume per second inside.
Q m3 /s = A x velocity (full side)
Q m3/s = (A-a) x velocity (rod side)
A1 A2
Q Q p2 vB
v0 = vB = p1
A1 A2 v0
POWER
Mechanical power is defined as Force x velocity.
P=Fv Watts
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BUCKLING
Buckling occurs when the rod bends or bows out sideways
under load.
Longer and thinner the rod, the more likely it is for buckling
to occur.
Maximum permissible force: 2
1π
Fmax L = ⋅ E ⋅ I1
n lk
n: safety factor: 1-3,5
lk: buckling length
I1: moment of inertia of the piston rod
E: elasticity modulus of the rod material
Picture
Free buckling
length
mounting style mounting style mounting style mounting style
Manner of
end fixing
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CUSHIONING
Cushioning is to slow down the piston as it reached the end
The needle valve is adjusted so that the piston is slowed up
over the last part of its stroke by a pressure build up in the
fluid escaping past the needle valve.
WORKED EXAMPLE
A double acting hydraulic cylinder has a bore of 100 mm. The
rod is 40 mm diameter and the stroke is 120 mm. It must
produce a pushing force of 12 kN.The flow rate available in
both directions is 12 dm3 /min.
Calculate:
The system pressure needed.
ii. The force with which it pulls given the same pressure.
iii. The speed on the outward stroke.
iv. The speed of retraction.
The power used on the outstroke. Assume ideal conditions
throughout.
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SOLUTION
SOLUTION
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ROTARY MOTORS
The purpose of a rotary motor is to convert fluid
power into shaft power by forcing the shaft to
rotate.
Pressure is converted into torque
Flow rate is converted into speed.
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SPEED-
SPEED-FLOW RELATIONSHIP
The basic relationship between flow rate and speed is
Flow Rate, Q = Kq x Speed
VOLUMETRIC EFFICIENCY
It is possible for hydraulic fluid to slip forward from the high
pressure port to the low pressure port through the clearance
gaps around the working elements without doing anything to
rotate the shaft. This is called internal slippage and it results
in a flow rate larger than the theoretical.
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Motors Relations
For the ideal Machine (motor) with no leakage, the
displacement of the machine and flow rate determine the
speed.
Q
ω=
D
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Power = Tω = PQ
PQ
T=
ω
T = PD TαP
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Volumetric Efficiency
The internal flow leakage in motor affects the relationship
between flow and speed
Q
ω = ηv
D
The volumetric efficiency varies with fluid viscosity, pressure
and rotating speed
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Mechanical Efficiency
The presence of friction between moving parts creates
mechanical losses that are represented by the mechanical
efficiency
Output torque:
T = η m PD
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Power Output
The power output from a motor is
H = η vη m PQ
With total machine efficiency
ηT = η vη m
H = ηT PQ
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ROTARY ACTUATORS
Special motor called a rotary actuator that is designed for
slow rotation of less than one revolution but with a large
torque.
Commonly used on robotic devices.
Pneumatic actuators are used for simple pick and place
operations and for opening and closing pipeline valves.
Hydraulic actuators are typically used to swing the boom on
a mobile excavator from side to side.
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WORKED EXAMPLE
The pressure difference over a hydraulic motor is 80 bar and it
runs at 400 rev/min. The nominal displacement is 5 cm3
/rev. The overall efficiency is 85% and the volumetric
efficiency is 90%. Calculate the following.
The ideal flow rate.
ii. The actual flow rate.
iii. The fluid power.
iv. The shaft power.
The shaft torque.
SOLUTION
N = 400/60 rev/s kq = 5 x 10-6 m3/rev
Ideal Flow rate = kq x N = 5 x 10-6 x 400/60 = 33.33 x 10-6
m3 /s
Actual Flow Rate = Ideal Flow rate/ηv = 33.33 x 10-6 /0.9 =
37.04 x 10-6 m3/s
Fluid Power Q∆p = 37.04 x 10-6 x 80 x 105 = 296.3 Watt
Shaft Power = Fluid Power x ηo = 296.3 x 0.85 = 251.85 Watt
Torque = SP/2πN = 251.85 /(2π x 400/60) = 6.013 Nm
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pneumomuscles;
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The membrane
pneumatic actuator
Slide-42
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Bellows cylinders
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