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UNIT-7: ACTUATORS:
Syllabus
Types
Characteristics of actuating system: weight,
power-to-weight ratio, operating pressure,
stiffness vs. compliance, Use of reduction
gears
comparison of hydraulic, electric, pneumatic
actuators
Hydraulic actuators-proportional feedback
control
Electric motors: DC motors, Reversible AC
motors, Brushless DC motors
Stepper motors- structure and principle of
operation, speed-torque characteristics
Introduction-Types
Actuators are the muscles of robots.
If you imagine that the links and the joints are the
skeleton of the robot, the actuators act as muscles,
which move or rotate the links to change the
configuration of robots.
The actuator must have enough power to accelerate
and decelerate the links and to carry the loads, be
light, economical, accurate, responsive, reliable, and
easy to maintain.
There are many types of actuators available.
Electric motors
Servomotors
Stepper motors
Direct-drive electric motors
Hydraulic actuators
Pneumatic actuators
Shape memory metal actuators
Magneto-strictive actuators
Introduction
Electric motors especially 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 not
used in new robots as often any more.
Direct drive electric motors, the shape memory metal
type-actuators, and others like them are mostly in
research and development stage and may become
more useful in the near future.
Hydraulic Actuators
Hydraulic systems and actuators offer a high power-to-weight
ratio, large forces at low speeds (both linear and rotary
actuation) compatibility with microprocessor and electronic
controls, and tolerance of extreme hazardous environments.
However, due to leakage problems, which is almost inevitable in
hydraulic systems, and due to their power unit weight and cost,
they are not used any more.
Nowadays, most robots are electric. However, there are still
many robots in industry that have hydraulic actuators.
Additionally, for special applications such as very large robots
and civil service robots, hydraulic actuators may be the
appropriate choice.
The total force that a linear cylinder can deliver can be
tremendously large for its size.
A hydraulic cylinder can deliver a force of F = p x A lb, where A
is the effective area of the piston or ram and p is the working
pressure.
For example, for a pressure of 1.000 psi, every square inch of
the cylinder develops 1.000-lb of force.
LOAD
ROTARY ACTUATOR
PUMP
HYDRO MOTOR
Limited-Rotation
Hydraulic Actuators
Rack-and-pinion limited rotation
actuator
24
Limited-Rotation
Hydraulic Actuators
Vane limited-rotation actuator
Goodheart-Willcox Co.,
Inc.
25
ELECTRIC MOTORS
When a wire carrying a current is placed within a magnetic field, it
experiences a force normal to the plane formed by the magnetic
field.
If the wire is attached to a center of rotation, the resulting torque
will cause it to rotate about the center of rotation.
Changing the direction of the magnetic field or the current causes
the wire to continuously rotate about the center of rotation, as
shown in Figure .
In practice, to accomplish this change in the current, either a set of
commutators and brushes are used for DC motors, the current is
electronically switched for DC brushless motors, or AC current is
This is the basic principle behind
used for AC motors.
all electric motors.
Similarly, if a conductor is moved
within a magnetic field crossing
the flux, a current develops
through the conductor. This is
called a generator.
Figure: When a wire carrying a
current is placed within a
magnetic field it will experience a
force in a direction normal to a
DC motors
reversible AC motors
brushless DC motors
stepper motors
DC Motors
DC motors are very common in industry and have been
used for a long time. As a result, they are reliable,
sturdy, and relatively powerful.
In DC motors, the stator is a set of fixed permanent
magnets, creating a fixed magnetic field, while the rotor
carries a current.
Through brushes and commutators, the direction of
current is changed continuously, causing the rotor to
rotate continuously.
Conversely, if the rotor is rotated within the magnetic
field, a DC current will develop, and the motor will act
as a generator.
If permanent magnets are used to generate the
magnetic field, the output torque TM is proportional to
the magnetic flux and the current in the rotor
windings Irotor , Then,