MODULE 2 ( PPT-3/4) ROBOTICS AND AUTOMATION

21ECE1673
SYLLABUS
MODULE-2

1 Actuators and Grippers : Electric Actuators T1 : 3.1

2 Hydraulic Actuators T1 : 3.2

3 Pneumatic Actuators T1 : 3.3

4 Selection of Motors T1 : 3.4

5 Grippers T1 : 3.5
HYDRAULIC ACTUATORS
HYDRAULIC ACTUATORS
Hydraulic actuators are one of the two types of fluid power devices for industrial robots.

The other type is pneumatic, described in the next section.

Hydraulic actuators utilize high-pressure fluid such as oil to transmit forces to the point of application desired.

A hydraulic actuator is very similar in appearance to that of pneumatically driven one.

Hydraulic actuators designed to operate at much higher pressures (typically between 70 and 170 bar).

They are suitable for high power applications. Advantages and disadvantages of a hydraulic actuator are as follows
UNIT OF PRESSURE.
It is a unit of pressure.

One Bar = one atm = 14.7 Psi = 101356.5 N/m2 (Pa) or approximately 0.1 MPa.
HYDRAULIC ACTUATOR COMPONENTS
HYDRAULIC CIRCUIT
ADVANTAGES
❑High efficiency and high power-to-size ratio.
❑Complete and accurate control over speed, position, and direction of actuatorsare possible.
❑Few backlash problems occur due to the stiffness and incompressibility of the fluid, especially, when the
actuator acts as the joint itself.
❑Large forces can be applied directly at the required locations.
❑They generally have a greater load-carrying capacity than electric and pneumatic robots.
❑No mechanical linkage is required, i.e., a direct drive is obtained with mechanical simplicity.
❑Self-lubricating (low wear) and non-corrosive.
❑Due to the presence of an accumulator, which acts as a ‘storage’ device, the system can meet sudden
demands in power.
❑Hydraulic robots are more capable of withstanding shock loads than electric robots.
DISADVANTAGES
❑Leakages can occur to cause loss in performance, and general contamination of the work area.
❑There is also higher fi re risk. The power pack can be noisy, typically about 70 decibel (dBA) or louder if not
❑protected by an acoustic muffler.
❑Changes in temperature alter the viscosity of the hydraulic fluid.
❑Thus, at low temperatures, fluid viscosity will increase, possibly, causing sluggish movement of the robot.
❑For smaller robots, hydraulic power is usually not economically feasible as the cost of hydraulic
❑components do not decrease in proportion to size.
❑Servo control of hydraulic systems is complex and is not as widely understood as electric servo control.
HYDRAULIC ACTUATORS
Hydraulic systems power the strongest and the stiffest robots and, hence, the bulk modulus of the oil
is an extremely important attribute to be selected.

A high bulk modulus implies a stiff, quickly responding system with a corresponding quick pressure
build-up, while a low bulk modulus may result in a system that is too loose because of the high
compressibility of the oil.

Hydraulic systems or circuits have always four essential components: a reservoir to hold the fluid,
pumps to move it, valves to control the flow, and an actuator to carry out the dictates of the fluid on
some load.

Rotary hydraulic actuators are also available in the market.

PNEUMATIC ACTUATORS
PNEUMATIC ACTUATORS
Pneumatic actuators are the other type of fluid power devices for industrial robots.

Pneumatic actuators utilize compressed air for the actuation of cylinders

They are widely used for typical opening and closing motions of jaws in the gripper of a robot, or for the actuation
of simple robot arms used in applications where continuous motion control is not of concern.

A pneumatic actuator comprising of a pneumatic cylinder and other accessories are shown
ADVANTAGES
❑It is the cheapest form of all actuators. Components are readily available and compressed air is normally an already existing facility in

factories.

❑Compressed air can be stored and conveyed easily over long distances.

❑Compressed air is clean, explosion-proof and insensitive to temperature fluctuations, thus, lending itself to many applications.

❑They have few moving parts making them inherently reliable and reducing maintenance costs.

❑Since pneumatic systems are common throughout industry, therefore, relevant personnel are often very familiar with the technology.
ADVANTAGES
❑Very quick in action and response time, thus, allowing fast work cycles.

❑No mechanical transmission is usually required.

❑Pneumatics can be intrinsically safe in explosive areas as no electrical control is required.

❑Also in wet conditions there is no danger of electrocution.

❑The systems are usually compact.

❑Control is simple, e.g., mechanical stops are often used.

❑Individual components can be easily interconnected.

DISADVANTAGES
Since air is compressible, precise control of speed and position is not easily obtainable unless more complex
electromechanical devices are incorporated into the system.
This means that only a limited sequence of operation at a fixed speed is often available.
If mechanical stops are used, resetting the system can be slow.
Pneumatics is not suitable for moving heavy loads under precise control due to the compressibility of air.
This compressibility necessitates the application of more force than would normally be necessary to ensure that
the actuator is firmly in position against its stop under load conditions.
If moisture penetrates the units and ferrous metals have been used then damage to individual components can
result.
The compressibility of the air in a pneumatic actuator does not allow for sophisticated control, but the same can
be used to advantage, preventing damage due to overload and providing compliance that may be required in
many practical applications.
PNEUMATIC ACTUATOR COMPONENTS
A PNEUMATIC ACTUATOR CIRCUIT
SELECTION OF MOTORS
SELECTION OF MOTORS
For any application of robots, one must decide which of available actuators is most suitable.

Positioning accuracy, reliability, speed of operation, cost, and other factors must be considered.

Electric motors are inherently clean and capable of high

precision if operated properly. In contrast, pneumatic systems are not capable of high precision for

continuous-path operation and hydraulic actuators require the use of oil under pressure.

Hydraulic system can generate greater power in a compact volume than electric motors.
SELECTION OF MOTORS
Oil under pressure can be piped to simple actuators capable of extremely high torque and rapid operations.

Also, the power required to control an electro-hydraulic valve is small.

Essentially, the work is done in compressing the oil and delivering it to the robot-arm drives.

All the power can be supplied by one powerful, efficient electric motor driving the hydraulic pump at the base

of the robot or located at some distance away.

Power is controlled in compact electro-hydraulic valves.

SELECTION OF MOTORS
However, high-precision electro-hydraulic valves are more expensive and less reliable than low-power
electric amplifiers and controllers.
On the other hand, electric motors must have individual controls capable of controlling their power.
In large robots, this requires switching of 10 to 50 amperes at 20 to 100 volts.
Current switching must be done rapidly; otherwise there is large power dissipation in the switching
circuit that will cause excessive heat.
Small electric motors use simple switching circuits and are easy to control with low-power circuits.
Stepper motors are especially simple for open-loop operation.
The single biggest advantage of a hydraulic system is their intrinsically safe operation.
SELECTION OF MOTORS
As a rule of thumb, hydraulic actuators are preferred where rapid movement at high torques is
required, at power ranges of approximately over 3.5 kW unless the slight possibility of an oil leakage
cannot be tolerated.

Electric motors are preferred at power levels under about 1.5 kW unless there is danger due to
possible ignition of explosive materials.

At ranges between 1-5 kW, the availability of a robot in a particular coordinate system with specific
characteristics or at a lower cost may determine the decision.

Reliability of all types of robots made by reputable manufacturers is sufficiently good that this is not a
major determining factor
SELECTION OF A MOTOR