S B SINGH

ROLL NO 17
SAKEC,
MUMBAI

INTRODUCTION
Actuators are the muscles of robots.
Electric motors
Servomotors
Stepper motors
Direct-drive electric motors
Hydraulic actuators
Pneumatic actuators
Shape memory metal actuators
Magnetostrictive actuators
INTRODUCTION
COMPARISON AMONG VARIOUS ACTUATORS
COMPARISON AMONG VARIOUS ACTUATORS
CHARACTERISTICS OF ACUATING SYSTEM
Characteristics of actuating system is criteria of selecting the
kind of actuator.
Weight, Power-to-Weight Ratio, Operating Pressure
The weight of the actuating system and Power-to-Weight Ratio is
important.
Pneumatic and hydraulic system are composed of two system,
actuating system and power system.
Stiffness vs. Compliance
Use of Reduction Gears
To increase the torque and make it to slow it down to manageable
speeds.
It increase the cost, number of parts, backlash, inertia of the rotating
body and resolution of the system.
CHARACTERISTICS OF ACUATING SYSTEM
Inertia and torque relationship between a motor and a load.
HYDRAULIC ACTUATOR
It offers a high power-to-weight ratio , large forces at low speeds
compatibility with microprocessor and tolerance of extreme
hazardous environments.
Linear Cylinder F = p X A
Rotary Cylinder dA = t . dr
( )
2 2
1 1
2
1
2 2
2 1
. . . . .
1
.
2
r r
r r
r
r
T p r dA p r t dr
pt r dr pt r r
= =
= =
} }
}
where, A is the effective area of the piston,
p is the working pressure.
A rotary hydraulic actuator.
HYDRAULIC ACTUATOR
where, q is the flow rate, C is a constant, x is the spools displacement,
y is pistons displacement and A is the area of the piston (d/dt denoted
as D).
( ) ( ) ( )
q Cx
q dt d vol A dy
=

= =

( ) ( )
Cx dt A dy
C
y x
AD
=

Schematic of a hydraulic system and its components.

Schematic of a spool
valve in neutral position.
PNEUMATIC DEVICES
It is very similar to hydraulic
system, but power-to-weight ratio
is much lower than hydraulic
system.
Because the air is compressible, it
compressed and deforms under
load.
Differential valve makes the
pneumatic cylinder position-
controlled
ELECTRIC MOTORS
Sorts of electric motors used in robotics
DC motors
Reversible AC motors
Brushless DC motors
Stepper motors
Important design factor is like below.
Dissipation of heat -> Size, Power of motors
Heat dissipation is generated from below.
Resistance of the wiring to electric current
Heat due to iron losses
Eddy current losses, hysteresis losses
friction losses, brush losses, short-out circuit losses
Basic Principle of all electric motors;
Basic Principle of all electric motors;
F I B =
Basic Concept of
Electric Motors
D C MOTOR V/S GENERATOR

DC motors is reliable, sturdy and relatively powerful.
Schematic of a disk motor.
M t rotor
M t f rotor stator
T k I
T k k I I
| =
=
Mathematical expression of DC motors
AC Motors
The changing flux is provided by the AC current(60Hz) and
commutators and brushes are eliminated.
AC motors can dissipate heat more favorable than DC motors, yielding
more power.
Brushless DC Motors
This types of motors are a hybrid between AC motors and DC motors.
It is not necessary that line frequency as 60Hz.
For smooth operation and almost constant torque, the rotor usually
has three phases in it.
Direct-Drive Electric Motors
These motors are designed to deliver a very large torque at very low
speeds and with very high resolution, but to be used directly with a joint
without any gear reduction.
ELECTRIC MOTORS
Servomotors
servo is an automatic device which uses error-sensing feedback to
correct the performance of a mechanism
The back electromotive force or back-emf is most important factor for all
electric motors.
Back-emf voltage

The motors velocity is
governed by

The motors torque

emf
V nkE =
in emf E
V IR V IR nk = + = +
T L f D
T IK T T nk = = + +
Stepper motors
Stepper motors are long-lasting, versatile and used without feedback.
It has permanent magnet rotors and multiple winding stator housing.
Most industrial steppers run between 1.8 to 7.5 degrees at full stepping.
The number of poles means more precise resolution, but it has physical
limitation.
MICROPROCESSOR CONTROL OF
ELECTRIC MOTORS
A robot is supposed to be a manipulator that is controlled by
computers or microprocessor and actuated by the electric motors with
controller, which
Pulse Width Modulation
PWM is used for DC motor speed control with microprocessors.
It requires only high voltage(5V) and one output bit.
Average output voltage of PWM is like below. is computer or
microprocessor.
PWM timing Sine wave generation with PWM
1
out CC
t
V V
t
=
Direction Control of DC Motors with an H-Bridge
It is desirable to change the direction of current flow in a motor for
changing its direction of rotation with only two bits of information.
It means one should change the direction of the flow by changing bit
information from the microprocessor.
Application of H-bridge for
motor direction control
ACTUATORS

MAGNETROSTRICTIVE ACTUATORS
A terfenol-D is placed near a magnet, this special rare-earth-iron
material will change its shape slightly, which is called magnetostriction
effect and is used to make linear motors with micro inches
displacement.
SHAPE-MEMORY-TYPE METALS
One particular metal alloy, called Biometal shortens about 4% when it
reaches a certain temperature.
The major disadvantage of the wire is that the total strain happens
within a very small temperature range and it is very difficult to
accurately control the strain.
THANK YOU!!!