Lecture 8

Introduction to Robotics
Faculty of Artificial Intelligence

Prepared by
Dr.\ Emad A. Elsheikh
Faculty of Electronic Engineering,
Menoufia University.
 Lecture 8

Actuation Systems
Pneumatic, Hydraulic, and Electric Systems
Actuators
• Actuation is the process of conversion of energy to mechanical form.
• The device that accomplishes this conversion is called actuator.
• The controller provides command signal to the actuator for actuation. The control codes
aims at “deriving the actuator when an event has occurred”
Actuators are the muscles of robots. There are many types of actuators available
depending on the load involved. including force, torque, speed of operation, accuracy,
precision and power consumption.
Types of actuators
❑ Electric motors
▪ DC and AC Motors
▪ Servomotors
▪ Stepper motors
▪ Direct-drive electric motors
❑ Hydraulic actuators
❑ Pneumatic actuators
Electric motors, and specially servomotors, are the most commonly used robotic
actuators.

Hydraulic systems were very popular for large robots in the past and are still around
in many places, but are no longer as popular, except for specific applications.

Pneumatic actuators are used in robots that have a half degree of freedom or on-off
type joints, as well as for insertion purposes.
Electromechanical actuators convert electrical energy into mechanical energy.
Magnetism is the basis of their principle of operation.
Hydraulic and pneumatic actuators are under fluid power actuators. Fluid power refers
to energy that is transmitted via a fluid under pressure.
Fluid : a substance that has no fixed shape and yields easily to external pressure; a gases
for Pneumatic or (especially) a liquid for Hydraulic .
Characteristics of actuating systems
1- Weight, Power-to-weight Ratio, Operating pressure
▪ Stepper motors - servomotors
▪ high the voltage - better power-to-weight ratio
▪ Pneumatic systems – L power-to-weight ratio
▪ Hydraulic systems – H power-to-weight ratio

2- Stiffness versus Compliance

▪ Stiffness is the resistance of a material against deformation.

3- Use of Reduction Gears

▪ Hydraulic – No
▪ Electric motors – Need
Comparison of Actuating Systems
Hydraulic Actuators
Hydraulic systems and actuators offer a high power-to-weight ratio, large forces at low speeds, both linear and rotary
actuation,
A hydraulic cylinder (also called a linear hydraulic motor) is a mechanical actuator that
is used to give a unidirectional force through a unidirectional stroke. It has many
applications, notably in construction equipment (engineering vehicles), manufacturing
machinery, elevators, and robotics. It provides linear motion when hydraulic energy is
converted into mechanical movement.
A hydraulic cylinder can deliver a force of F = p ×A (lb or N), where A is the effective
area of the piston or ram, and p is the working pressure.
Pneumatic Devices
▪ Pneumatic devices are principally very similar to hydraulic systems. A source of
pressurized air is used to power and drive linear or rotary cylinders, controlled by
manual or electrically controlled solenoid valves.
▪ lower inertial loads than hydraulic.
▪ Pneumatic actuators are simple, rugged, and safe.
Pneumatic cylinder, also known as air cylinder, is a mechanical device which uses
the power of compressed gas to produce a force in a reciprocating linear motion.

Pneumatic cylinders are divided into

▪ single-acting and

▪ double-acting cylinders.
Electric Motors
Overview
Motor Basics
 Motors convert electric energy to mechanical motion.
 Either an AC or DC electrical energy source serves as the input to the
motor.
 The result is mechanical motion of the output shaft, that is a rotation
about or a translation along the shaft, provided the load carried by
the shaft does not exceed the maximum load the motor is designed to
carry.
Direct Current Motors
3. Drive systems:- such as direct current (DC) motors and alternating
current (a.c) motors, where a current through a motor is used to produce
mechanical (Rotational or linear) movements.
 Choosing a Motor

There are numerous ways to design a motor, thus there are many different
types of motors.
 The type of motor chosen for an application depends on the
characteristics needed in that application.
 These include:
◦ How fast you want the object to move,
◦ The weight, size of the object to be moved,
◦ The cost and size of the motor,
◦ The accuracy of position or speed control needed.
 Motor Parameters
The level of motor performance provided, is described by its parameters.
These includes:
 Rated Speed: Speed measured in shaft revolutions per minute (RPM)
 Torque: Rotational force produced around a given point, due to a force applied at a
radius from that point, measured in lb-ft (or, oz-in).
 Horse-Power = Speed x Torque / 5252.11...
◦ A measure of work expended: 1 HP = 33,000 foot-pounds per minute.

 Torque-Speed performance of a motor

 Types of Motors
 The different types of motors possess different operating characteristics.
◦ Heavy Industrial applications: AC motors
◦ Mobile robotics & hobby robots: DC-motor, DC servo motor, and stepper
motors

 Brief overview of the operation characteristics of:

◦ AC motors
◦ DC motors
◦ DC servo motors
◦ Stepper motors
 AC Motor Characteristics

 When power is applied, AC motors turn in one direction at a fixed speed.

 Both reversable and non-reversable models available
 Usually high voltage (110V AC and up)
 Inexpensive and commonly available
 Optimized to run at a fixed, usually high RPM.
 If the applied load is greater than the capacity of the motor, the motor
will stall and possibly burn out.
DC Motor Characteristics
 When power is applied, DC motors turn in one direction at a fixed speed.
 They are optimized to run at a fixed, usually high RPM.
 Torque is highest at the rated speed and lowest at low speeds.
 Speed can be varied if a (pulse width modulation) PWM controller is added.
 Almost all can be reversed.
 Inexpensive and commonly available.
 Available in wide range of speeds and power.
 Suitable for turning, spinning, etc.
 Not suitable for positioning unless some kind of position feedback is added.
 If the applied load is greater than the capacity of the motor, the motor will stall and possibly
burn out.