➢ Recognize the different types of power robot’s supplies.

➢ Identify the main components of each type of power supplies.

➢ Understand the advantages and disadvantages of power

supplies.
 1-Pneumatic Power

Pneumatic powered devices uses air for their

power.
It consists of :
• compressor,

• a storage tank for holing the pressurized

air,
• and a motor to run the compressor
➢ The power for a pneumatic manipulator generally
takes the form of some type of actuating cylinder.

➢ These cylinders produce a linear motion, which

may be converted into rotational motion through
the use of a linkage.

➢ There are two types of the cylinders

Single-action cylinder
Single action cylinder
➢ Figure (a)shows the power stroke (outward stroke).

➢ Compressed air moves the piston out against the return

spring.

➢ The outward stroke force (F ) can be calculated from

the following formula:

 
F =   D  P  − (S + f F )
2

4 
Where:
D: the diameter of the piston.
P: the pressure of the fluid entering the piston.
S: the spring force.
fF : the frictional force.
Figure (b) shows the return stroke (Fr) of the piston.

Expressed mathematically this is

Fr = (S − f F )
Double-action cylinder
➢ Figure (a) shows the outward stroke of the piston in a
double action cylinder,

➢ compressed air moves the piston out and pushes the air out
the return side of the piston.

The force (F ) on the outward stroke is:

 
F =   D  P − fF
2

4 
➢ Figure (b) shows the return stroke of the piston,

➢ compressed air moves the piston back in and

pushes the air out the other side of the piston.

The Fr on return stroke is:

 
Fr =   ( D − Dr )  P  − f F
2 2

4 
➢ Figure (c) shows the piston in a holding position.

➢ The double action cylinder has an advantage over

the single action cylinder:

➢ It can be set to hold an in-between position.

A 30 mm diameter double action cylinder has an air
pressure of 150 bar applied against the piston face,
moving it outward. If the friction force of the piston is
20 N, what force will the piston rod apply to its load?
DATA
D = 30 mm
P = 15 N/mm2
fF = 20 N
 
F =   D2  P − fF
4 
F = (0.7854x 302x 15) – 20

F =10.6KN
➢ Hydraulic power uses a noncompressible fluid to transmit
energy.

➢ The hydraulic power supply uses pump to supply the force

needed to move the hydraulic fluid under high pressure.

➢ The power from the pump is then transmitted by the fluid

through tubing to the hydraulic devices as shown in the
following figure.

➢ Hydraulic system may use the same single and double action
cylinder that pneumatic power supplies use. It can also use
rotary actuators.
Rotary motion can be converted to
linear motion as it can be seen
from the following figure:
➢ The single action rotary actuator can move through a rotational angle
of approximately 280o.

➢ The torque (T) developed by the actuator can be calculated from the
following formula:

T = (P  A  Rc ) − T f
Where:
P: fluid pressure
A: vane area
Rc: centre radius
Tf: frictional torque
➢ The double action actuator can move through only half the rotation
of the single action rotary actuator.

➢ It can develop twice the torque, by applying pressure to twice vane

area.

The formula in this case is:

T = (2  P  A  Rc ) − T f
A single action rotary cylinder has a vane center radius
of 25 mm and a vane area of 3 mm2. If the fluid
pressure against the vane is 120 bars and the piston has
20 N.mm of friction torque, what torque is delivered to
the load on the cylinder shaft.
P = 12 N/mm2
A = 3 mm2
Rc = 25 mm
Tf = 20 N.mm

T = (P  A  Rc ) − T f

T = (12 x3 x25) – 20
T = 880 N.mm
Electrical power (in the following figure) is clean and
can be distributed through wires.
 ADVANTAGES & DISADVANTAGES

Power type ADVANTAGES DISADVANTAGES

• Relatively inexpensive • Compressibility of air

limits control and
• High speed security aspects

• Do not pollute work • Noise pollution from

Pneumatic area with fluid exhausts

• Can be used in • leakage of air can be

laboratory work of concern

• Common energy • Difficulties with control

source in industry of speeds.
Power type ADVANTAGES DISADVANTAGES
• Large lift capacity • Hydraulic systems are
expensive
• Moderate speeds
• Maintenance problems
• Oil is incompressible. with seals causing
leakage
• Very good servo control
can be achieved • Not suitable for high
Hydraulic
speed cycling
• Self lubricating and
cooling • Need for a return line

• Fast response
Power type ADVANTAGES DISADVANTAGES

• Actuators are fast and • Brakes are needed to lock

them in position
accurate
• Problems of overheating in
• Possible to apply stalled condition
sophisticated control
techniques to motion • Electrical arcing may be
considered in flammable
Electric atmospheres
• Relatively inexpensive
Very fast development