Types of Robot Actuators

An actuator is a device that causes motion which can be linear motion or rotary motion in order to move
the robot joints by converting a particular form of energy [generally electrical] into mechanical work.
Few common types of actuators used and seen in robotics projects can be primarily categorized as :

• hydraulic which use compressed oil to cause the motion,

• electric which use electric current and magnets to cause the motion.
• pneumatic which use compressed air to cause the motion,

1 . Hydraulic actuators :

Hydraulic actuators find out their applications in heavy machineries generally used in construction
and mining industry. Being very compact in structure they are capable of generating very high forces
thus finding applications in heavy duty machinery.
They are simply cylindrical devices with a large cylinder and some hoses going to it with a shiny rod
sticking out free at one end to move back and forth .
While the cylindrical body consists of two ports for entry and exit of compressed oil and a moving
part i.e. the rod which moves backwards and forwards to exerts a force on the machine and finally
on the environment.
The hydraulic actuator converts oil pressure to a linear force. And the flow of oil is coordinated by
input signals .
Thus one can consider hydraulic Actuators as a
combination of hydraulic and electronics technology
Although the linear hydraulic actuator is by far the
most common, there are also rotary hydraulic motors
Hydraulic actuators being compact with output force
requires a lot of other additional kit. Such as valves to
control the direction of oil flow , Compressors for high-
pressure oil and for extensively heavy machinery, you
need to setup a cooling system to cool the oil after it’s been compressed.
Few examples of very large hydraulically-powered robots are electric Puma 560 robot and Cincinnati
Milacron T3 robot.
Back in the day, hydraulics was the only technology that could be used to create a robot that was
able to lift very large payloads.
Since then, with evolution in electric motors and invention of pneumatic Actuators the use of
Hydraulic Actuators becomes outdated and there are virtually no hydraulically-powered
manufacturing robots in existence today .

2. Electrical Actuators :
• DC motor: motor driven with DC voltage at
various levels consists of an output shaft
mounted to a pinion, spur, or other type of
gear, primarily find its applications in drivetrains
for mobility (e.g., a crawler) . It is generally
wired to an electronic speed controller module
to control its speed and rotation direction. Like
other actuators, they are available in a variety of
sizes and torque handling characteristics.

• Servo: a constitutes of a DC motor, output shaft,

and control circuitry all packaged into one unit.
They are beneficial in providing controlled angular
rotational movement, they can be briefly
categorized as hobby-grade and robotic-grade
servos .

• Stepper: One can consider it as an mediator between

a DC and a servo motor.
Due to high accuracy and repeatability,
They find their applications in 3D printers
and CNC machines , where lower torque output plays
a sufficiently important role.

• Solenoids : a specific type of linear actuator that can assume binary positions (i.e., on/off,
open/closed, etc.). Solenoids are typically used for
applications like valves, latches, and locks, or for pushing
buttons, and are usually controlled by an external
microcontroller.

• Linear actuator: They perform same task as Servo but

instead of angular motion they provide linear
mechanisms such as worm drives. and therefore find
their extensive application in robotic arms.

Pneumatic actuators

Pneumatic actuators are Advanced version of Hydraulic Actuators .Being

quite similar to hydraulic actuators here we see
Pressurized gas or compressed air Instead of compressed oil, in
Linear pneumatic system . in order to create motion and perform
specific task . They can be used to produce both rotational motion and
linear motion.
 Similar to hydraulic system, a lot of other kit. Such as a Cylinder, Piston , compressors,
accumulators and few supporting components like a lot of hoses valves, springs, stoppers and
etc. are required here. To setup the complete Machinery.
Few examples of Pneumatic actuators are :

• Muscle wire :
These are used to make robotic hand or palm. These length of
these wire can be control with respect to current passed
through them.

• Air Muscles:
The prime initiative of Air muscles (or pneumatic air muscles - PAM)is to replicate muscles in
robots (humanoid). PAM’s consist of a rubber bladder
covered by a braided fibre mesh which expands radically
when pressurized gas/air is inflated, and deflates in order
to contract.
Being inexpensive, light weight, extensive strength to
weight ratio, easier to build, flexible , durable, safe, and
also easy to use under water. They can be used as an
alternative to a linear pneumatic actuator, in order to
create an artificial muscle.
As These devices directly convert air pressure to a linear force with no piston involvement.