Presentation 2

Robot Drives, Actuators and
Control
Dr. Manjula Sutagundar
Dept. of E&IE, BEC, Bagalkot
Functions of Drive System
• Main motive power of robots – Drives
• To drive the mechanical links to desired position
and orientation – Various transmitting elements
are employed
• Four basic methods of drives
 Hydraulic
 Pneumatic
 Electrical (d.c. and a.c. motors)
Electrical stepper motors
Functions of Drive System
• Selection of Drive System
 Power consumption
 Positional accuracy
 Repeatability
 Speed of orientation
 Stablity
 Reliability
 Cost
Type of control
General Type of Fluids
• Fluids
 Gases (Compressible)
 Liquids (Incompressible)
• Requirements of hydraulic fluids
 Desired viscosity index
 Resistance to oxidation
 Good lubrication properties
 Chemical stability
 Low density
Fire resistant
• Commonly used hydraulic fluids – Petroleum based fluid with
additives
• Pneumatic systems
 Air
 Inexpensive
 No possibility of fire hazard
 Clean air can be immediately obtained
 Used air can be thrown out into atmosphere
 Sluggish
 Corrosive
• Basic Fluid Properties
 Hydraulics: Pressure transmission follows Pascal
law
 “ Pressure applied to a fluid in a container is
transmitted undiminished in all directions”
 Fluid pressure – Transmitted force acting over a
unit area
P= Pressure(pascals or bar)
F=Force(Newton)
A=Area (Square meter)
1 bar = 105 N/m2

1 Pa = 1 N/m2
• Bulk modulus – Index for incompressibility of
hydraulic fluid
= Bulk modulus
V=Original volume of oil
p=Change in pressure
v=Change in volume
• Viscosity
Absolute fluid viscosity
=absolute viscosity (dyne s/cm2)

=sheer stress in the fluid due to sliding of adjacent layers
(dyne/cm2)
v/d=slope of velocity profile[(cm/s)/cm]
• Kinematic viscosity
= kinematic viscosity (cm2/ s)

=absolute viscosity (dyne s/cm2)
=mass density of fluid(gm/cm3 )
• Viscosity index: Measure of viscosity of an oil with
respect to temperature change
• High viscosity index is good for a hydraulic fluid
• Air entrapped in hydraulic fluid causes bubbles
• Bubbles-cause damage to the pump components
• Dissolved air destroys the incompressibility property of
the fluid - inaccuracy and instability of hydraulic
actuators
• Proper care – prevent leakage in suction pipe and keep
the de3livery line dipped in reservoir
• Lubricating property of fluid
 Important
 Fluids may cause wear due to frictional force
• Mechanics of Hydraulic Systems
v=velocity(m/s)
d=distance(m)
t=time(s)
F=force(N)
m=mass(kg)
a=acceleration(m/s2 )
W=work(J)
F=force(N)
D=distance(m)
F=force(N)
v=velocity(m/s)
P=power(W)
Hydraulic motor- rotational speed of motor

v=velocity(m/s)
Q=flow rate(m3 /s)
A=cross-sectional area (m2)
• Air to hydraulic pressure booster
• Bernoulli’s Law
 Derived from law of conservation of energy
 Total energy in a system remains constant as
energy can neither be created nor be destroyed
 In hydraulic system – Work is done by pump
delivering fluid either in a hydraulic actuator or
hydraulic motor
 Fluid loss may occur during its flow through the
pipe
• Elements of hydraulic system
 Pump
 Hydraulic actuator
 Control elements
Pump Classification
• Transforms mechanical energy into hydraulic
energy
• Two types:
 Hydrodynamic or non-positive displacement
pumps
 Hydrostatic or positive displacement pumps
Pump Classification
• Non positive displacement pumps
 Two types: i. Centrifugal pump ii. Axial pump
Pump Classification
Pump Classification
• The flow rate of the pump depends on
 The speed at which the propeller or impeller is driven
 Restriction of the outlet or resistance of the external system
• With the increase in the restriction of the outlet, there
is reduction in the rate of flow and some of the fluid
leaks backward
• When the outlet is completely restricted or closed, the
flow stops.
• If the outlet of the pump is opened again, the will
have maximum flow
Pump Classification
Pump Classification
• There is no flow when the outlet valve is
completely closed and pressure becomes
maximum
• Pressure is reduced as soon as the valve opens
and flow takes place
Pump Classification
• Hydrostatic or positive displacement pump
 Delivers a fixed quantity of fluid per revolution of the pump
shaft and the output flow is constant at the rated speed of
the pump
 If the outlet valve is closed, pressure may rapidly build up
 If the resistance to flow increases due to the load, pressure
may be increased and pump is protected by allowing the
fluid to flow back to the tank through a pressure relief valve
Volume of the output flow increases with an increase in the
speed of the pump shaft
Pump Classification
• Gear Pumps
 Driver gear in mesh with the driven gear rotates
and carries the fluid from the tank to the outlet
pipe
Pump Classification
• Suction side – Towards the side where the gear teeth come out
of mesh
• As the gear turns, the size of the chamber at the inlet becomes
larger, the volume increases, causing a drop in the pressure
below the atmospheric pressure and a vacuum is created.
• Atmospheric pressure in the tank forces the fluid into the void
• Discharge side of the pump is towards the portion where the
gear teeth run into mesh
• At the outlet the volume decreases between meshing teeth
and oil is pushed into the outlet pipe
Pump Classification
• Volumetric displacement is given by
• Ideal flow rate Q
• Volumetric efficiency
Pump Classification
Pump Classification
• https://youtu.be/Qy1iV6EzNHg
• https://youtu.be/L30JpM8Lv_A
Pump Classification
• Vane Pumps
Pump Classification
• Consists of pump housing, vanes and rotor
• The rotor has radial slots in which the vanes are fitted
• The rotor rotates inside the housing and vanes slide in and out of
the slots
• The rotor is not centrally located in the cam ring
• As the rotor attempts to turn, the volume in the space between the
rotor and the housing increases and the vacuum is created due to
reduction of pressure
• Oil is taken into the pump’s suction chamber during one half of the
revolution
• In the other half of the revolution, the volume decreases due to the
sliding of the vanes inside the rotor and the oil is pumped out
• Flow takes place due to eccentricity
Pump Classification
• Eccentricity 
• The displacement volume (vol) is given by

Pump Classification
• Piston pumps
 Radial piston pump
 Axial piston pump
Pump Classification
• Radial Piston pump:
 Like vane pump radially located piston pump
move in and out due to rotational movement of
the rotor
 As the piston moves out, oil is drawn into the
piston
 When the piston moves in the discharge takes
place
Pump Classification
Pump Classification
• Axial Piston pump
Bent axis
Swash plate
 The drive shaft is connected to the cylinder block through a
universal joint
 The cylinder block has valve plate attached to one end and the
valve plate has openings for inlet and outlet
 The pistons located in a circle move in the cylinder block and the
axis of the cylinder is set at an angle of offset rotating to the axis
of the drive
 As the drive shaft rotates, the pistons reciprocate and the fluid is
delivered through the outlet pipe
Pump Classification
Pump Classification
• The displacement volume
vol = nA(D tan )
• The flow rate Q is determined from
Q = nA(D tan ) N
Pump Classification
• Swash plate axial piston pump
 The pistons are connected to a swash plate
that can be swung.
 As the piston are withdrawn from the bore,
fluid is taken at the inlet and when they are
forced out, the fluid is delivered through the
outlet port
Pump Classification
Hydraulic Actuators
• Convert energy extracted out of fluid to a
mechanical work
• Two types:
 Linear actuator (Hydraulic cylinder)
 Rotary actuator(Hydraulic motor)
Hydraulic Actuators
• Two types: Single acting, Double acting
• Single acting cylinder
 Exerts a force only in one direction when the piston
moves inside the cylinder due to thr fluid pressure
exerted on the blank side
 Fluid from the pump enters through a port on the blank
end
 The piston rod extends through the gland at the rod end
 Retraction of piston takes place by compression spring
or gravity
Hydraulic Actuators
Hydraulic Actuators
• Double acting cylinder
 Fluid may enter through either the blank end or the rod end
 Extension of the piston rod occurs when the fluid is pumped into
the blind end
 Retraction of the piston occurs when the fluid is pumped into
the rod end of the cylinder
 The area exposed to fluid towards the rod end of the cylinder
reduces due to the presence of the piston rod. Hence extending
force is greater than the force of retraction
 Speed of retraction is higher compared to speed of extension
Hydraulic Actuators
• Double acting double rod cylinder
 Force and speed are equal in both direction
Hydraulic Actuators
• Double acting cylinders some time contain
cylinder cushions built in to help absorb the
shock of the piston when it moves towards the
end of stroke
Hydraulic Actuators
• Hydraulic rotary actuators
 create rotary motion and torque instead of linear
motion
 Three types of motors
 Gear motors
 Vane motors
 Piston motors
Hydraulic Actuators
• Gear motors
 Unlike gear pumps develop torque and rotary
motion when they are acted upon by fluid
Fluid enters the inlet port and is carried around
the casing and finally flows out through the outlet
port
Due to the difference in pressure between
inlet(high pressure) and outlet(low pressure) side
thrust occurs
https://youtu.be/aAr9dJngLqY
Hydraulic Actuators
• Vane motors
 Torque is developed by the force due to the
hydraulic pressure acting on the vane
 The vane slides in and out of the motor connected
to the drive shaft connected to the load
 The motor rotates and vanes follow the surface of
the ring
 Vanes are sealed tightly against the case with the
help of springs when the fluid is directed to pass
through small passage cut into the motor
https://youtu.be/OAIzuzFDHbg
Hydraulic Actuators
• Piston Motors
 Variable displacement motors
 The swash plate can be tilted left or right past the
central position
 The direction of rotation can reversed by tilting
the swash plate
Hydraulic Actuators
• Rack and pinion actuator
 Gives uniform torque in both directions
 Rotational motion at low speed and high torque
can be derived
Basic Elements in Hydraulic Circuits
• The control components :
 Directional control valves: Establish direction of
motion of an actuator through check valves or
shuttle valves
 Pressure control valves: Control excessive pressure
and protect the hydraulic system through relieving
valves or reducing valves
 Flow control valves: Control fluid flow in various
hydraulic lines of a circuit and thus speed control of
actuators is possible
• Directional control Valve

 Check valve
 Control the fluid flow in one direction only
Pilot operated check valve
Includes a pilot line and a pilot piston
• Counter balance check valve

• Other types of control valves
 two way valve
 four way valve
• Direct the inlet flow to either of the two outlet
ports
• Valves use spool that slides for changing the path
of fluid through the body of the valve
• The spool may have either two or three positions
• The valves have either two ways or four ways
• Two –way valve
• Four-way valve
• Directional control valve has two inlet ports P and T,
and two outlet ports A and B
• P and T – Centre
• A and b – Ports
• The directional control valve can have three positions
• If the spool is at the centre of the valve, valve is said
to be in neutral
• Other two spool positions – extreme left or extreme
right
• When the valve is in neutral, fluid van be

blocked from entering the valve and the
condition is called the closed centre position
• When the valve is in neutral, fluid can be
allowed to enter the valve and return to the
tank and this condition is called the open
centre position
• Open centre valve
• Close centre valve
• The various centre flow paths for three

position four way directional control valve
may include
 Open centre, open port
 Open centre, closed port
 Closed centre, closed port
 Closed centre, open port
Various centre flow paths
• The spool of the directional control valve can

be shifted and positioned by a hand lever, a
foot pedal or electrical solenoids
Servo Control Valves

• Three types
 Spool type
 Flapper type
 Jet pipe type
• Two stage control is used
• First stage – A pilot valve directs the fluid to the main spool valve
• The movement of the main spool valve is controlled by the
amount of torque that can be developed by the motor
connected to the pilot spool
• The torque motor can be connected to the flapper which can be
shifted closer to, or moved away from the ports, and the
pressure is directed to the main spool that changes its position
• In case of jet pipe valve, the torque motor can be connected to
the jet pipe that can be deflected towards either of the control
ports to move the spool back and forth
• An electrical signal drives the torque motor of the servo valve
• This actuates the main spool of the directional control valve
to direct the fluid to the hydraulic actuator driving the
required load with respect to its desired position and velocity
• The position and velocity of the load is fed back in the form of
electrical signal to the input of the servo valve via a feedback
device
• The feedback signal is then compared to the command signal
and their difference is amplified to drive the torque motor till
the command position and desired position of the load
become equal
• In case of solenoid controlled valve, the

directional control valve is moved to the left or
right, to close or open fully. But a servo
control valve is used to move the valve by a
small amount proportional to the electrical
signal
• Flow control valves
 Used to control flow rate to the actuators and for
regulating the speed of the hydraulic cylinder
 Fluid flow takes place under pressure differential
 The pressure differential can be created by a restrictor with
an orifice through which the fluid is allowed to pass
 Needle valve – sharp conical disk can be adjusted to be
fitted into its matching seat for allowing free passage of
fluid for a given valve setting
 The flow can be increased or decreased by rotating the
valve in either direction
• If the load in the system is increased, the speed of the
hydraulic cylinder piston decreases because of the drop
in the pressure differential across the needle valve
• As the pressure differential decreases, the flow of the
fluid also decreases
• To maintain the speed, the pressure on the pump inlet
line must be increased so that the pressure differential
is kept constant
• To overcome the problem of fluctuations of the load, a
pressure compensated flow control valve is preffered
• Pressure control valve

 To limit the pressure to a specified maximum
value
 If the pressure exceeds the maximum value –
relief valve diverts the fluid back into the tank
• Simple relief valve – Operates on either fully

closed or fully open condition
• Causes excessive wear and vibrations of the
spool
• Causes instability because of frequent opening
and closing
• Noisy
• Pilot operated relief valve
 The main spool contains a small hole in the centre
 The fluid can pass through the bored hole and reach the pilot line
if the pilot spools opens
 A spring holds the pilot spool closed
 Spring force can be adjusted by the screw on top. The main spool
is also held in a closed position by a spring
 If the pressure in the chamber becomes high, it lifts the pilot spool
 The opening of the pilot spool allows the fluid to be directed to the
tank
 The chamber pressure falls
The system pressure below the mail spool increases due to higher
pressure differential and the main spool thus opens and now a
large passage open to fluid line leading to the tank
Pneumatic Systems
• Pneuma – Breath
• Use pressurized gases
• Advantages
 Less expensive
 Compressible
• Disadvantage
 Precise control of velocity and position is difficult
 Low pressure – low power applications
 Moisture in free air is harmful
 Not good lubricant – Causes wear inside the actuator
Pneumatic Systems
• Compressors
• Conditioners
• Pneumatic valves
• Pneumatic actuators
Pneumatic Systems
• Compressors
 Machine to compress air from atmospheric
pressure to a higher level of pressure
 Two types
 Positive displacement
 Rotary compressors
Pneumatic Systems
• Positive displacement compressor
 Reciprocating piston type compressor
 May be single stage or multi stage
Pneumatic Systems
Pneumatic Systems
• Compressor is fitted with elements like,
 Silencer
 Oil gauge
 Filter
 Lubrication systems
 intercollers
Pneumatic Systems
• Multistage compressor and cooling
 The temperature of the air rises as it is compressed
 With the increase in temperature, air tries to
expand
 Compressibility becomes difficult
 Multistage compression divides the total pressure
among two or more cylinders by feeding the
exhaust air from one cylinder into the inlet of next
cylinder
Pneumatic Systems
Pneumatic Systems
• Vane type rotary compressor
 Uses a rotor that rotates and creates a vacuum
 Air is rushed in and is compressed
 Gives a constant delivery of the compressed air
Pneumatic Systems
• Screw type Rotary compressor
 Uses unsymmetrical profile of screw type rotors
that are mesh
Fresh air enters at one end and flows past the
progressively smaller volume and is compressed
 Controlled clearance between the teeth profile
and housing is necessary
 For high efficiency – oil is injected to form a thin
film to absorb heat of compression
Pneumatic Systems
Pneumatic Systems
Pneumatic Systems
• Compressor is provided with a receiver that acts as
reservoir
• Receiver function – supply air at constant pressure
• Size of receiver depends on
 output flow rate of compressor
 rate of demand of pneumatic system
 maximum and minimum pressure level in the receiver
 time for which the receiver can supply the required
amount of air
Pneumatic Systems
• Pressure Switch
 Compressor stores compressed air in the receiver and
the pneumatic system draws it whenever air is needed
 When air is not needed, the receiver pressure may rise
 To prevent rise in pressure in the tank, a pressure
switch is provided in the receiver
 Main function – Cut off the electrical supply and
switch off the circuit whenever pressure in the receiver
tank exceeds certain limit
Pneumatic Systems
• Safety relief valve
 If the pressure switch fails to turn off the
electrical switch of motor of the compressor, the
pressure in tank may continue to rise and tank
may explode
 Safety valve is provided, to release the pressure of
the receiver
Pneumatic Systems
Pneumatic Systems
• Conditioners
 Main function – make the air acceptable
 Includes – air filters, regulators, lubricators and air dryers
• Air filter
 removes dirt and other contaminants from the air
 Dirt and other contaminants damage cylinder walls, valves and other
pneumatic elements in the circuit
 The baffling system installed within the air filter separates the dust
particles from air
Principle – Force the contaminated air to change the direction quickly.
As the contaminants and dirt particles cannot change the direction
quickly they condense on the metals blades and then drain into the filter
Pneumatic Systems
• Pressure Regulators
 To deliver air at constant pressure to pneumatic
actuators
Pneumatic Systems
• Lubricators
 Lubrication is necessary for internal moving parts
 Oil from oil tank reached the drip tube
 when the oil passes through the variable control
orifice, an oil delivered by the drip tube is mixed
with the air to form an oil mist
 The oil mist is carried out and it lubricates the
moving components of the pneumatic circuit
Pneumatic Systems
• FRL
Pneumatic Systems
• Driers
 Used for removing virtually all moisture
 Drying agent is used
 Air passes through the drying agent, a chemical
reaction takes place with the water vapour and
water vapour is absorbed
Pneumatic Systems
• Pneumatic Valves
 To control pressure
 To control flow rate
 To control direction
Pneumatic Systems
• Check Valve
 Shut off air flow instantaneously if it attempts to
flow in the reverse direction
Pneumatic Systems
• Flow Control Valve
 Allows free flow in one direction
 Metered or controlled flow in opposite direction
Pneumatic Systems
• Directional Control Valve
Pneumatic Systems
• Pneumatic Actuators
 Two types – Linear actuators, rotary actuators
 linear actuators – Single acting or double acting
Pneumatic Systems
Pneumatic Systems
• Rotary actuators
 Two types – Low speed piston motors, variable
speed vane motors
Pneumatic Systems
• Vane motors
 Bidirectional
 Speed depends on volume of air
induced and torque depends on
pressure of air
Pneumatic Systems
A Typical Pneumatic System
Electrical Drives
• Use DC electrical motors for robot articulation
• Convert electrical energy into mechanical
energy by developing suitable torque on the
motor shaft
• DC motors – High torque
• Electrical drives
 Clean drives
 Good repeatability
Electrical Drives
• DC motors
Basic working principle of DC motor is based on the
fact that whenever a current carrying conductor is
placed inside a magnetic field, there will be
mechanical force experienced by that conductor.
 Four types
 Permanent magnet motor
 Series wound motor
 Shunt wound motor
 Compound motors
Electrical Drives
• Permanent Magnet DC Motor
 When permanent magnet is used to create a
magnetic field in a DC motor, the motor is referred
as permanent magnet DC motor
Electrical Drives
Electrical Drives
Electrical Drives
Electrical Drives
https://youtu.be/7bb7vQI3wpQ
Electrical Drives
• Shunt wound motors
 Instead of using a permanent magnet, a field coil
is used
 When the direct current is applied to the field
coil, a magnetic field is created
The armature and field windings are connected in
parallel across the supply voltage
Electrical Drives
Electrical Drives
When the armature is static, a voltage is applied to the
armature that draws heavy current
The armature coil begins to turn in the magnetic field
As soon as the armature rotates, the coils cuts through
the magnetic line of flux and a back emf is generated
which opposes the applied voltage
 The armature draws little current during its rotation
when it generates back emf and develops a torque
Higher the armature current, the higher is the torque
Electrical Drives
Electrical Drives
• Speed of the shunt wound motor can be
controlled
 Controlling the field current
 Controlling the current in the armature circuit
Electrical Drives
Electrical Drives
• Series wound motors
 Field winding is in series with armature winding
 When the voltage is applied, high current is
drawn in both the field and armature
 The torque becomes high
 With rotation of armature, counter emf is
generated which opposes the applied voltage
 The current goes down and the motor runs faster
Electrical Drives
Electrical Drives
• Compound motors
 Speed regulation of a shunt wound motor is good
 The series wound motor has higher starting
torque
 Compound motor – combines the advantages of
shunt wound motor and series wound motor
Electrical Drives
Electrical Drives
Electrical Drives
• Types of PMDC
 Iron core permanent magnet
 Surface wound permanent magnet
 Printed armature
Electrical Drives
• Iron core permanent magnet
 Strong permanent magnet made of alnico, ferrite or
ceramic is used
 The armature shaft rotates within a strong and
stable magnetic flux provided by permanent magnet
 Have laminated iron rotor with slots in which the
windings are located
 Slots – tendency of starting and stopping as each
slot passes through the edge of magnetic field
Electrical Drives
Electrical Drives
Electrical Drives
• Surface wound permanent magnet DC motors
 Armature conductors are bonded to the surface
of a cylindrical rotor
 No slots – No starting and stopping effect as in
case of iron core PMDC
 More powerful magnets are used compared to
iron core PMDC
Electrical Drives
Electrical Drives
• Printed armature or moving coil PMDC
 In robotics, it is often necessary to position the
manipulator instantly
 By bringing the motor to full speed from starting
 stop and reverse
 In PMDC the armature made of soft steel is heavy
and difficult to accelerate and dead stop
 To overcome the difficulties, disc armature
motors or printed circuit motors are used
Electrical Drives
Electrical Drives
Electrical Drives
• Control loops
 Two types: Open loop and closed loop
 Classification is based on presence or absence of
feedback
Electrical Drives
Electrical Drives
Electrical Drives
Electrical Drives
Electrical Drives
Electrical Drives
• Principles of servo control in a robot
 Output expressed in the form of either position or
speed of the robot is constantly servoed by an
input command
Electrical Drives
Electrical Drives
Electrical Drives
• Accuracy – Zero error in steady state operation
• Accuracy is enhanced by increasing the gain
• During transition – oscillation of the servo
system occurs due to variation of input in
opposition to the output disturbances (
friction and inertia)
• A high gain may disturb the stability of the
system
Electrical Drives
• Servo control modes
 Proportional control
 Proportional and integral control
 Proportional and derivative control
 Proportional Integral Derivative Control
Electrical Drives
• Proportional Control system
Electrical Drives
Electrical Drives
• Proportional Integral Control
Electrical Drives
Electrical Drives
• Proportional Derivative Control
Electrical Drives
• For constant input voltage, derivative amplifier
gives zero output
• For a ramp input, the output is the rate of
change of ramp
• A rising input error gives a negative output
voltage.
Electrical Drives
Electrical Drives
• Three possible conditions of oscillations in a
closed loop servo system. They are:
 Undamped
 Critically damped
 Over damped
Electrical Drives
• Proportional Integral and Derivative Control
Electrical Drives
• The servo motor moves at a given speed and
is regulated in position
• Integral control eliminates the steady state
error caused by proportional control alone
• System oscillation or stability is monitored by
derivative control
DC Motors and Transfer Functions
• DC motors – used in electrically powered
robots
• The two adjustable parameters are
 Armature current
 Field current
• Two modes of operation of a DC motor
 Armature controlled mode
 Field controlled mode
• Transfer functions and Block diagrams
 Ratio of Laplace transform of the output of the
system to that of the input with zero initial
conditions, and is designated by the symbol G(s)
 Functional relationship in a transfer function is

often expressed by block diagram
• Armature Control Motors

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Robot Drives, Actuators and

1 bar = 105 N/m2

=absolute viscosity (dyne s/cm2)

= kinematic viscosity (cm2/ s)

Hydraulic motor- rotational speed of motor

• Ideal flow rate Q

• The displacement volume (vol) is given by

• Directional control Valve

• Counter balance check valve

• When the valve is in neutral, fluid van be

• The various centre flow paths for three

• The spool of the directional control valve can

Servo Control Valves

• In case of solenoid controlled valve, the

• Pressure control valve

• Simple relief valve – Operates on either fully

 Functional relationship in a transfer function is

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