Robot Actuators & Feed Back Components

ACTUATORS
• Actuators are the devices which provide the actual motive force for
the robot joints.
• 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 moves or rotate the links to change the configuration of
robots. The actuators must have enough power to accelerate and
decelerate the links and to carry the loads, yet be light, economical,
accurate, responsive, reliable and easy to maintain.
• Actuators in robotic system basically consists of :
– A power supply.
– A power amplifier.
– A servomotor.
– A transmission system.
 Robot Actuators & Feed Back Components

Actuator system
Pp : Primary source of power (Electric, Press.fluid,
POWER compress. Air)
SUPPLIES Pc : Input control power usually electric .
Pa : Input power to motor Electric, Hydraulic, or Pneumatic.
Pm: Power output from motor.
PP
Pu : mechanical power required

POWER Pa MOTOR Pm Pu
Pc OR TRANSMISSION
AMPLIFIER SERVO MOTOR

Pda Pds Pdt

Pds, Pdt , Pda : Powers lost in dissipation for the conversion
performed by the Amplifier, Motor, Transmission
 Robot Actuators & Feed Back Components
ISSUES/CHARACTERISTICS OF AN
ACTUATOR
• Load (e.g. torque to overcome own inertia)
• Speed (fast enough but not too fast)
• Accuracy (will it move to where you want?)
• Resolution (can you specify exactly where?)
• Repeatability (will it do this every time?)
• Reliability (mean time between failures)
• Power consumption (how to feed it)
• Energy supply & its weight.
 Robot Actuators & Feed Back Components
TYPES OF ACTUATORS
• Based on the source of Input Power
actuators are classified in to three groups :
1. Pneumatic Actuators.
• These utilize pneumatic energy provided by the
compressor and transforms it into mechanical
energy by means of pistons or turbines.
2. Hydraulic Actuators.
• These Transform the energy stored in reservoir
into mechanical energy by means of suitable
pumps.
3. Electric Actuators.
• Electric actuators are simply electro-mechanical
devices which allow movement through the use
of an electrically controlled systems of gears
Robot Actuators & Feed Back Components

Pneumatic and Hydraulic Actuators

• Both these actuators are powered by moving fluids.
• In the first case, the fluid is compressed air and
• In the second case, the fluid is pressurized oil.
• Pneumatic systems typically operate at about
100lb/in2
• Hydraulic systems at 1000 to 3000 lb/in2.
 Both Hydraulic and Pneumatic actuators are
classified as
• linear Actuators (Cylinders).
• Rotary Actuators (Motors).
Robot Actuators & Feed Back Components

Pneumatic and Hydraulic Actuators

linear Actuators
Robot Actuators & Feed Back Components

Pneumatic and Hydraulic Actuators

linear Actuators
• The simplest power device could be used to
actuate a linear joint by means of a moving
piston.
• There are two relationships of particular
interest when discussing actuators:
1. The velocity of the actuator with respect to
input power and
2. Force of the actuator with respect to the input
power.
Robot Actuators & Feed Back Components

Pneumatic and Hydraulic Actuators

linear Actuators
Robot Actuators & Feed Back Components

Pneumatic and Hydraulic Actuators

Rotary Actuators
Pneumatic and Hydraulic Actuators
Rotary Actuators
• There is a relationship of particular interest when
discussing Rotary actuator:
• The angular velocity, ω, and Torque, T.

• R, outer radius of the vane., r, inner radius., h,

thickness of the vane., ω, angular velocity., T, torque.
 Robot Actuators & Feed Back Components
Advantages and limitations of Pneumatic
actuators

ADVANTAGES LIMITATIONS
• It is cheapest form of all actuators. Components • Since air is compressible, precise control
are readily available and compressed air of speed and position is not easily
normally is an readily available facility in
obtainable unless much more complex
factories.
• Compressed air can be stored and conveyed
electro mechanical devices are
easily over long distances. incorporated in to system.
• They have few moving parts making them • If mechanical stops are used resetting
inherently reliable and reducing maintenance the system can be slow.
costs. • If moisture penetrates the units and
• They have quick action and response time thus
ferrous metals have been used then
allowing for fast work cycles.
damage to individual components may
• No mechanical transmission is usually required.
happen.
• These systems are usually compact thus the
control is simple e.g: mechanical stops are often
used.
 UNIT VII Robot Actuators & Feed Back Components
Advantages and limitations of Hydraulic
actuators
ADVANTAGES LIMITATIONS

• High efficiency and high power to size • Leakages can occur causing a loss in
ratio. performance and general
• Complete and accurate control over speed contamination of the work area.
position and direction of actuators are There is also a higher fire risk.
possible.
• The power pack can be noisy typically
• No mechanical linkage is required i.e., a
direct drive is obtained with mechanical about 70 decibel or louder if not
simplicity. protected by an acoustic muffler.
• They generally have a greater load • Changes in temp alter the viscosity of
carrying capacity than electric and hydraulic fluid. Thus at low
pneumatic actuators. temperatures fluid viscosity will
• Self lubricating and non corrosive. increase possibly causing sluggish
• Hydraulic robots are more capable of with movement of the robot.
standing shock loads than electric robots.
 Robot Actuators & Feed Back Components

Electric and Stepper Motors

• There are a variety of types of motors used in
robots. The most common types are
Servomotors and Stepper motors.
–Electric actuators are simply electro-

Sccemechanical.wordpress.com
mechanical devices which allow movement
through the use of an electrically controlled
systems of gear.
 ELECTRIC MOTORS
• Electric motors usually have a small rating,
ranging up to a few horsepower. 
• They are used in small appliances, battery
operated vehicles, for medical purposes and in
other medical equipment like x-ray machines.
• Electric motors are also used in toys, and in
automobiles as auxiliary motors for the
purposes of seat adjustment, power windows,
sunroof, mirror adjustment, blower motors,
engine cooling fans.
 Robot Actuators & Feed Back Components

STATOR

ROTATING
(COMMUTATOR)

ARMATURE

Brushes
 Robot Actuators & Feed Back Components

COMPONENTS OF DC ELECTRIC MOTOR

• The principle components of an electric motor are: North and
south magnetic poles to provide a strong magnetic field.
Being made of bulky ferrous material they traditionally form
the outer casing of the motor and collectively form the stator.
• An armature, which is a cylindrical ferrous core rotating
within the stator and carries a large number of windings made
from one or more conductors.
• A commutator, which rotates with the armature and consists
of copper contacts attached to the end of the windings.
• Brushes in fixed positions and in contact with the rotating
commutator contacts. They carry direct current to the coils,
resulting in the required motion.
 ELECTRIC MOTORS
• DC motors :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.
• AC motors : These are similar to DC motors except
that the rotor is permanent magnet, the stator
houses the windings, and all commutators and
brushes are eliminated.
• A Servomotor is a DC,AC, brushless, or even
stepper motor with feedback that can be
 UNIT VII Robot Actuators & Feed Back Components

COMPONENTS OF DC ELECTRIC MOTOR

A simple DC electric motor: when the coil is powered, a magnetic field is
generated around the armature. The left side of the armature is pushed away
from the left magnet and drawn toward the right, causing rotation. The
armature continues to rotate, When the armature becomes horizontally
aligned, the commutator reverses the direction of current through the coil,
reversing the magnetic field. The process then repeats.
Robot Actuators & Feed Back Components
Robot Actuators & Feed Back Components

STEPPER MOTOR
• When incremental rotary motion is required in
a robot, it is possible to use stepper motors.
• A stepper motor possesses the ability to move
a specified number of revolutions or fraction of
a revolution in order to achieve a fixed and
consistent angular movement.
• This is achieved by increasing the numbers of
poles on both rotor and stator
• Additionally, soft magnetic material with many
teeth on the rotor and stator cheaply multiplies
Robot Actuators & Feed Back Components

STEPPER MOTOR
Robot Actuators & Feed Back Components
ADVANTAGES & LIMITATIONS OF ELECTRIC
ACTUATORS
ADVANTAGES LIMITATIONS
• Wide spread availability of power • Electric actuators often require
supply. some sort of mechanical
• The basic dive element in an electric transmission system this increases
motor is usually lighter than that for the unwanted movement,
fluid power. additional power and may
• High power conversion efficiency. complicate control.
• No pollution of working environment • Due to increased complexity of the
• The accuracy and repeatability of transmission system additional cost
electric power driven robots are is incurred for their procurement
normally better than fluid power and maintenance.
robots in relation to cost. • Electric motors are not intrinsically
• Easily maintained and repaired. safe. They cannot therefore be used
• The drive system is well suited to in for example explosive
electronic control. atmospheres.
 Robot Actuators & Feed Back Components

APPLICATIONS
•  Stepper motors can be a good choice whenever
controlled movement is required.
• They can be used to advantage in applications where you
need to control rotation angle, speed, position
and synchronism. These include :
• printers
• plotters
• medical equipment
• fax machines
• automotive and scientific equipment etc.
 Robot Actuators & Feed Back Components

Comparison of actuating systems

Hydraulic Electric Pneumatic
+ Good for large robots + Good for all size of + Many components are
and heavy payload Robots usually off-the-shelf
+Highest Power/Weight +Better control, good for +Reliable components.
Ratio high precision robots
+Stiff system, High +Higher Compliance that +No leaks or sparks
accuracy, better response Hydraulics
+Inexpensive and simple
+No reduction gear +Reduction gears used
needed reduce inertia on the
+Can work in wide range motor +Low pressure compared
of speeds without to hydraulics
+does not leak, good for
difficulty
clean room + Good for on-off
+Can be left in position applications and for pick
+Reliable, low
without any damage and place
maintenance
 Robot Actuators & Feed Back Components

Comparison of actuating systems

Hydraulic Electric Pneumatic
- May leak. Not fit for clean +Can be spark-free. Good for +Complaint systems.
room application explosive environment.
-Requires pump, reservoir, -Noisy systems.
-Low stiffness
motor, hoses etc.
-Can be expensive and noisy, -Needs reduction gears,
- Require air pressure, filter,
requires maintenance. increased backlash, cost,
etc.
weight, etc.
-Viscosity of oil changes with -Difficult to control their
-Motor needs braking device
temperature linear position
when not powered.
-Very susceptible to dirt and Otherwise, the arm will fail.
-Deform under load
other foreign material in oil
constantly
-Low compliance -
-Very low stiffness. Inaccurate
-
-High torque, High pressure, response.
large inertia on the actuator. - -Lowest power to weight ratio