Actuation System

Actuation Systems
-Elements of control systems, responsible for transforming the output
of a microprocessor or control system into a controlling action on a
machine of device:

-Typically energy conversion devices. For example an Electrical motor

converts electrical power to rotary motion. Similarly a hydraulic motor
will convert hydraulic power (in the form of hydraulic fluid flow and
pressure) into rotary motion.
Main Attributes of Actuators
 Types of Actuation system
Most common types of Actuation system
(Based on the Phenomenon/Mechanism of involved)

• Mechanical Actuation system

• Electrical Actuation system
• Hydraulic & Pneumatic Actuation system
 Mechanical
Actuation System
 Mechanical Actuation Systems

• Mechanical Aspects of Motor Selection: Moment of Inertia and

Torque
• Mechanical devices are motion converters: they transform motion
from one form into another form. For example they transform linear
motion into rotational motion.
• Mechanical elements may include the usage of linkages, cams,
gears, rack and pinion, chains, belt drives.
• Examples: Force amplification given by levers; change of speed
given by gears; transfer of rotation about one axis to rotation about
another using timing belts
 Mechanical systems
• Features of Mechanical systems: Structures/Machines/Combination
• Types of Motion: Linear, Curvilinear, Translational , Rotational & Plane motion
• Freedom and Constraints:
• Types of Loading:
• Transformation of Motion/Energy: Transforming/Modifying/Converting the
actuation into desired motion.
 Machines
(Simple to
Complicated)
 Types of Motion

• Linear, Curvilinear, Translational, Rotational & Plane motion etc.

• Continuous, Uniform or Intermittent motion.
• Complex motion: Combinational of various types of motions e.g.
translational & rotational etc, including the components of the
motion in three dimensions
Freedom and Constraints:
 Mechanisms

• Motion/Energy Transformation
• Mechanisms, considered to be motion converters in which they transform
motion from one form to some other required form. E.g. transforming
linear motion into rotational motion, or motion in one direction into a
motion in a direction at right angles, or perhaps a linear reciprocating
motion into rotary motion, as in the internal combustion engine where the
reciprocating motion of the pistons is converted into rotation of the crank
and hence the drive shaft.
• Link Kinematic Chain Mechanism
Kinematic chains(Four bar linkage).
 Mechanical Actuation system
Elements of Mechanical Actuation system
• Shaft
• Gear Trains
• Belt and Pulley
• Cam
• Chain Drive
• Bearing
Shafts
Power/Motion Transfer through Shaft
 Splines

Transmitting power through the movement

of interlocking grooved rotary shafts. Since
splines transmit power by meshing together
many tooth surfaces, they have superior
load transmission ability and alignment.
Gear Trains
Gear Trains
Belt Drive
 Belt Drives
• Belt drives are just a pair of rolling cylinders with the motion of one
cylinder being transferred to the other by a belt. Belt drives use the
friction that develops between the pulleys attached to the shafts and
the belt around the arc of contact in order to transmit a torque.
Belt Drives
Belt Drives : Advantages
Belt Drives
Flat Belt Drives
Round Belt
V Belt
Multigroove Belt drive
Timing Belt drive
Bearings
 Bearings
• Whenever there is relative motion of one surface in contact with another,
either by rotating or sliding, the resulting frictional forces generate heat
which wastes energy and results in wear. The function of a bearing is to guide
with minimum friction and maximum accuracy the movement of one part
relative to another.
Load on Bearings
Types of Bearing (Based on Type of Friction)
Types of Sliding contact Bearing
Types of Sliding contact Bearing
Types of Sliding contact Bearing
Rolling contact Bearing
Types of Rolling contact Bearing

Ball bearing
and
Roller bearing
Components of Bearing
Chain drive
Types of Chain
 Cams
• A cam is a body which rotates or oscillates and in
doing so imparts a reciprocating or oscillatory motion
to a second body called the follower, with which it is
in contact. As the cam rotates so the follower is made
to rise, dwell, and fall.
• Cams are used to convert rotary motion to oscillatory
motion (almost always) or oscillatory motion to rotary
motion (rarely)
• For high speed applications – example, internal combustion
engines
 Cam types

 

Wedge cam

Plate cam

 

y Face cam

Barrel cam
60
Cam and Followers
Displacement/Velocity/Acceleration diagram
Rack and Pinion
Ratchet and Pawl