Actuators

• An actuator is a component of a machine that is responsible for moving

or controlling a mechanism or system.
• An actuator requires a control signal and a source of energy. The control
signal is relatively low energy and may be electric voltage or current,
pneumatic or hydraulic pressure, or even human power (But in robot it
is electricalsignal). The supplied main energy source may be 
electric current, hydraulic fluid pressure, or pneumatic pressure. When
the control signal is received, the actuator responds by converting the
energy into mechanical motion.
• Comprises of
• A power supply
• Power amplifier (boost input control signal)
• A sevromotor
• A transmission system
Electric ,Pneumatic and Hydraulic Actuators
• Primary input power supply is
the electrical energy.

• It uses pneumatic (air or gas

pressure) energy provided by
compressor and transform it
into mechanical energy by
means of piston or turbines.

• It transform hydraulic (system

operate or moved by fluid)
energy stored in reservoir into
mechanical energy by means
of pumps.
 Pneumatic Actuators in detail
• It uses compressed air
• Used in gripper for opening and closing of jaws.
• Used in application where continues motion control not
required
 Advantages of Pneumatic actuator

• It is cheapest form of all actuators.

• Compressed air can be stored and conveyed
easily over long distances
• Low maintenance cost (few moving parts)
• They have quick action and response time
• No mechanical transmission is used
• Control is simple (mechanical stops are
used)
• Individual components can be easily
connected
 Disadvantages of Pneumatic actuator

• Precise control of speed and position is not

easily obtainable because of compressibility
of air.
• Because of mechanical stop ,resetting of
system is slow
• Not suitable for moving heavy load.
• If moisture penetrates, then damage to
components can results
 Hydaulic Actuators in detail
• It utilizes high=pressure fluid such as oil to transmit forces to the point of
application.
• Suitable to high power applications
 Advantages of Hydraulic Actuator
• High Efficiency
• High power to size ratio.
• Complete and accurate control over speed, position and
direction.
• Few backlash problems (unwanted play in transmission
component ) occur due to stiffness and incompressibility
• Greater load carrying capacity
• No mechanical linkage is required
• Self-lubricating
• Non-corrosive
• Can handle shock loads
 Disadvantages of Hydraulic Actuator

• Leakages
• Can be noisy.
• Complete and accurate control over speed, position and
direction.
• Change in temperature change viscosity of fluid
• Cost is high for small systems
 Electric Actuators
• In Electric actuators a type of motor that is
responsible for moving or controlling a
mechanism or system.
The primary input power supply is electrical
energy.
• An Electric motor drives the robot links through
some mechanical transmission(gears)
 Advantages and Disadvantages :Electric Actuators

• Low inertia (low resistance for movement and stopping )

• High Power to weight ratio(performance parameter e.g HP/Pounds)
• Possibility of overload and delivery of impulse torque
• Capacity to develop high acceleration
• Wide velocity range
• High positioning accuracy
• Good trajectory tracking and positioning accuracy

• Require extra transmission system

• Additional cost
• Cannot use in explosive atmospheres
Hydraulic Actuator

• Normal Mode
Hydraulic Actuator

• Activation Mode
Pneumatic Actuator
 Hydraulic or Pneumatic Actuator
Components
• Filter: Filter clean dirt, rust, and particles from fuel.
Hydraulic filters keep the hydraulic fluid contaminant free.
• Hydraulic Pump: Creates a vacuum at the pump inlet, which
forces liquid from the reservoir into the inlet line to the pump
and by mechanical action delivers this liquid to the pump
outlet and forces it into the hydraulic system. 
• Valve: controlling the passage of fluid or air through a pipe.
• Cylinder :Cylinder has piston and through pressure perform
mechanical task.
• Compressor: Converts power (using an electric motor, diesel
or gasoline engine, etc.) into potential energy stored in
pressurized air (i.e., compressed air). By one of several
methods, an air compressor forces more and more air into a
storage tank, increasing the pressure.
 Hydraulic or Pneumatic Actuator
Components
• After –Cooler: A Charge-Air Cooler is used to cool air after it
has passed through a turbocharger(or compressor).

• Directional control valves: are one of the most fundamental

parts in hydraulic machinery as well as pneumatic machinery.
They allow fluid flow into different paths from one or more
sources. 
 Electric Actuator
•  
 Stepper Motors
• Stepper Motors
• Used in open –loop system
• Required no analog signal
• rotates incrementally in one step
• Final position could be find by counting number of pulses.
• Can easily accelerated to load

 
 DC Motors

 
 Conventional (Brushed) DC Motor

The Permanent magnet (PMDC)

  brushed DC motor is generally much
smaller and cheaper than its
equivalent wound stator type DC
motor .They have no field winding. In
permanent magnet DC (PMDC)
motors these field coils are replaced
magnets which have very high
magnetic energy fields.
 The “Brushless” DC Motor

• The brushless DC motor (BDCM) is very similar to a

 
permanent magnet DC motor

• It does not have any brushes to replace or wear out due to

commutator sparking. Therefore, little heat is generated in
the rotor increasing the motors life.

• The design of the brushless motor eliminates the need for

brushes by using a more complex drive circuit where the
rotor magnetic field is a permanent magnet which is always
in synchronisation with the stator field allows for a more
precise speed and torque control
 The DC Servo Motor

• DC Servo motors are used in closed loop type applications

were the position of the output motor shaft is fed back to the
motor control circuit