Actuators

Examples
• Robotic system
• Mobile
• Machine tools
• Home appliances
• Biomedical system
 What is an actuator?
• An actuator is a device that modifies the
mechanical state of a system to which it is
coupled.
• Actuator convert some form of input
energy (typically electrical energy) into
mechanical energy
f, V= effort (force, torque, voltage)
i, v = flow (velocity, angular rate, current)
Q = loss
Typical actuating unit
Electrohydraulic and electromechanical actuators.

Solenoid-operated directional control valve.

1. A solenoid has an
electromagnetically
inductive coil around an iron
core at the center called the
plunger.
3. This creates a magnetic
attraction with the plunger,
moving it and overcoming
the spring force.
2. When current flows
through the solenoid, the
coil is energized and
creates a magnetic field.
4. Valve position is
attained by the linear
movement of the plunger.
 Various types of actuators

Drive Device Displacement Accuracy Torque / Response

Generative time
force
Air Pressure Motor Rotation Degrees 50 Nm 10 s
Cylinder 100 mm 100 m 10-1 N/mm2 10 s
Oil Pressure Motor Rotation Degrees 100 Nm 1s
Cylinder 1000 mm 10 m 100 N/mm2 1s
Electricity AC Servo motor Rotation Minutes 30 Nm 100 ms
DC Servo motor Rotation Minutes 200 Nm 10 ms
Stepper motor Rotation / Minutes / 300 N 100 ms
1000 mm 10 m
Voice coil motor 1 mm 0.1 m 300 N 1 ms
Piezoelectric 100 m 0.01 m 30 N/mm2 0.1 ms
Magnetostrictor 100 m 0.01 m 100 N/mm2 0.1 s
Ultrasonic motor Rotation minutes 1 Nm 1 ms
(Piezoelectric)
 Examples
• Production and assembly machines
– Tools and work pieces are clamped by means of
hydraulic system
– Feed and spindly drives
• Transfer lines
• Lifting and conveying devices

Other example: Automotive Manufacturing, conveyor system

Applications of rotary actuators
 Advantages
• High power intensity (transmission of large forces using
small components)
• Precise positioning
• Start-up under heavy load
• Even movements independent of load (since liquids are
scarcely compressible, and flow control valves can be
used)
• Smooth operation and reversal
Limitations
• Pollution of the environment by waste oil (danger of fire or
accident)
• Sensitivity to dirt
• Danger resulting from excessive pressures
• Temperature dependence (change in viscosity)
• Low efficiency
 Operating condition

• Energy transmission: up to 100 m, signal

speed up to 1000 m/s
• Operating speed: 0.5 m/s
• Linear motion and position accuracy:
precision of up to 1 m can be achieved
• Stability: High
• Forces: Protected against overload, with high
system pressure of up to 600 bar, very large
forces can be generated F< 3000 kN
Basic hydraulic Double
system acting cylinder

Flow
Directional
control
control valve
valve

Pressure
relief
Check valve
valve

Pump

Tank
Figure: page 106
 Gear pump

Internal gear pump

External spur gear pump
 Graphic and circuit symbols
• Pumps and motors
 Directional control valves
• Directional control valves are shown by
means of several connected squares:
– Number of squares indicates the number of
switching positions
– Arrows within the squares indicate the flow
direction
– Lines indicate how the ports are
interconnected in the various switching
positions
• Port designation: P: Pressure port, T:
Return port, A and B: Power ports, and L:
Leakage port
4-way, two-position valve

On-off valves
Methods of actuation
 Pressure valves
• Pressure relief: Normally closed position, the control
pressure is detected at the input, It is possible to set a
limiting pressure
• Pressure regulator: Normally open position, the control
pressure is detected at the output
Pressure valves
 Flow control valves

Variation in inlet pressure do not

affect rate of flow

2-way flow
control valve
Non-return valves
 Linear / rotary actuators
• Cylinders
– Single-acting cylinders
• Hydraulic ram
• Telescopic cylinder
– Double-acting cylinders
• Telescopic cylinder
• Differential cylinder
• Synchronous cylinder

• Motors
 Double acting cylinder
Double-acting cylinder with single piston rod

Double-acting cylinder with through piston rod

(area is same on both sides)

Differential cylinder, areas on both sides are

different (area ratio: 2:1)

Double-acting telescopic cylinder

Double-acting cylinder with single

End position cushioning

Double-acting cylinder with end

position cushioning at both ends

Double-acting cylinder with adjustable

end position cushioning at both ends
Transfer of energy and conditioning of the pressure
medium
Measuring devices
Hydraulic power pack
 Hydraulic circuit - 1
• Rolls of paper are lifted into a calender by a lifting device. The lifting device
is driven by a plunger cylinder (single-acting cylinder). When the hydraulic
power pack is switched on, the pump output flows directly to the cylinder. A
3/2-way valve, which is closed in its normal position, is fitted in a branch line
leading to the tank. A non-return valve is used to ensure that the pump is
protected against the oil back-pressure. A pressure relief valve is fitted
upstream of the non-return valve to safeguard the pump against excessive
pressures.
 Hydraulic circuit - 2
The cover of a hardening furnace is to be raised by a single-acting cylinder. The cylinder
is activated by a 4/2-way valve.
i)Estimate the load pressure and the hydraulic resistance when the door weight is 9 kg.
ii)Estimate the advance-stroke speed and advance-stroke time.
The piston area and the stroke length of the cylinder are 2 cm2, 200 mm,
respectively. The pump output is 2 l/min. The travel pressure is measured to be 8
bar.
 Hydraulic circuit - 3
A furnace door is opened and closed by a double-acting cylinder. The cylinder is
activated by a 4/2-way valve with spring return. This ensures that the door opens
only as long as the valve is actuated. When the valve actuating lever is released,
the door closes again.
 Meter-in speed control
1) Meter-in systems are used primarily
when the external load opposes the
direction of motion of the hydraulic cylinder.
2) Opposite situation: in the case of a
weight would suddenly drop by pulling the
piston rod down if a meter-in system is used
even if the flow control valve is completely
closed.
3) Meter-out is preferred when the load
is pulling the piston rod down. However
there is a possibility of excessive
pressure build-up in the rod-end of the
cylinder while it is extending. (due to
back pressure from flow control valve
opening)
The loading ramp of a car ferry must be capable of being set to different
heights. The ramp is raised and lowered by a hydraulic cylinder. This motion
must be carried out smoothly and at a constant speed. A flow control valve is
to be used to adjust the speed. This must be installed in such a way as to
prevent excessive pressures from developing within the system.
 Hydraulic circuit - 4
• Several stations on a rotary machining station are driven by a hydraulic
power pack. As individual stations are switched on and off, they produce
pressure fluctuations throughout the hydraulic circuit. The fluctuations in
pressure and the tractive forces created during drilling must not affect
the feed of the drilling station. A flow control valve is to be used to
ensure a smooth adjustable feed rate, while a pressure relief valve is to
be used as a counter-holding valve to compensate for the tractive forces.
 Hydraulic circuit - 6
Design a circuit: the left cylinder extends and clamp the workpiece via a power
vise jaw. Then the right cylinder extends to drive a spindle to drill a hole in the
workpiece. The right cylinder then retracts the drill spindle, and then the left
cylinder retracts to release the workpiece for removal.
 Hydraulic circuit - 7

Automatic cylinder reciprocating circuit. This is accomplished by using two

sequence valves, each of which senses a stroke completion by the
corresponding buildup of pressure.
Each check valve and
corresponding pilot line
prevents shifting of the
four-wave valve until the
particular stroke of the
cylinder has been
completed.

The check valves are

needed to allow pilot oil to
leave either end of the DCV
while pilot pressure is
applied to the opposite end.
This permits the spool of the
DCV to shift as required.
Hydraulic circuit – Cylinder synchronizing circuit

F1

F2
 Fail-safe circuit

To lower the cylinder , pilot

pressure from the blank end of
the piston must pilot-open the
check valve at the rod end to
allow oil to return through the
DCV the DCV to the tank.

Designed to prevent injury to the operator or damage to equipment. A fail-safe

circuit that prevents the cylinder from accidently falling in the event a hydraulic
line ruptures or a person inadvertently operates the manual override on the pilot-
actuated directional control valve when the pump is not operating.
Two-handed safety circuit

1) The operator must depress

both manually actuated valves
via the push buttons.

2) Further more the

operator cannot circumvent
this safety feature by tying
down one of the buttons,
because it necessary to
release both buttons to
retract the cylinder.
3) When the two buttons are depressed, the main three-position
directional control valve is pilot-actuated to extend the cylinder.
When both push buttons are released, the cylinder retracts.
Regenerative cylinder circuit

Drilling machine application

 Servo system application

Point-to-point positioning: Assembly, spot welding robot

Continuous positioning: Laser cutting, welding robot, painting robot
 Fluid power servosystem

Continuous control of the displacement, speed and force of

a hydraulic actuator
In its simplest form a servo or a
servomechanism is a control system,
which measures its own output and forces
the output to quickly and accurately follow
a command signal
Electro hydraulic actuator with
electric motor control (speed control)

Electric motor control is efficient

Electro hydraulic actuator with pump

control (fluid displacement control)

Electro hydraulic actuator with valve

control (fluid displacement control)

Valve control provides

better dynamic response
Linear force motor (proportional magnet) to move the spool either side of the
central position
Servo system

3) The action of the

feedback link shifts the
sliding sleeve to the
right until it blocks off
the flow to the hydraulic
cylinder. 1) A small input force shifts
the spool of the servo valve
to the right by a specified
Positioning control 2) The oil then flows through amount.
port p1, retracting the
hydraulic piston to the right.

Thus a given input motion produces a specified and controlled amount of output
motion.
Such a system, where the output is fed back to modify the input is called a closed-
loop system.
Thank you