ACTUATORS

On receipt of the controller command(s) a relay

switch and /or correcting element or final control
element comes into action to implement the
decision of the controller.
Action like : opening of a door, closing of a door
,printing ,firing a bullet ,answering a question etc.
It can be implemented through any one or
combination of various mechanical, electrical,
hydraulic, pneumatic equipment & devices.
Types of Actuators :Mechanical, electrical,
hydraulic, and pneumatic actuators .
Electrical Actuating System
 Introduction
*Electrical actuators : Switches,
Contacts, Relays, Solid state device
switches, motors.
*Machines and systems involve
various types of movements: variety
of motors,
*Range: Smallest motors(watch) to
largest motors(Ship propulsion) .
 ELECTRICAL RELAYS, SOLENOIDS
• Switches :SPST ,SPDT ,DPDT
• Fuses :
• Magnetic Switches :
• Solenoids and Relays :Reed Relays
• Relay timers :
(i) On delay relay timer,
(ii) Off delay relay timer
Switches :SPST ,SPDT ,DPDT
On delay relay timer
 SOLID-STATE SWITCHES
Semiconductor devices such as:
• diodes,
• transistors,
• thyristors,
• DIACs, and
• TRIACs,
They can perform high-speed switching.
 ELECTRIC MOTORS
*An electric motor :An electromechanical
device.
*Converts electrical power into mechanical
power and offers rotary or converted linear
motion through available mechanical power.
*Classification: Type of electrical energy input,
construction, or application.
*It can run on DC, AC, and dual power supply,
that is, DC or/and AC supply.
*Power rating: Milli watts to millions of watts
 Types of DC Motors

DC Motors Types :
(i) Brushed DC Motors with
Field Windings
•Self-excited DC motors :
Series, shunt, compound
•Separately Excited DC motors
(ii) Brushless DC Motors
 Self-excited DC motors
• Field coil as well as armature windings
are excited by the same source.
 Separately -excited DC motors
Field coil and armature winding are
excited by separate sources.
Eb = (ΦZNP/60 A)

Φ = Flux per pole in Wb

Z= number of armature conductor
N=Speed of rotor (rpm)
P=number pf poles
A = 2 (wave winding) , P (lap
winding)

T ∝ ΦIa
• Significance of Back EMF – Self regulating Property
It makes the motor to draw as much armature current as is just sufficient to
develop the
torque required by the
load. Armature current
(Ia),

Motor in no load, small torque is required to overcome the friction

and windage losses. Therefore, the armature current Ia is small and the
back emf is nearly equal to the applied voltage.
Suddenly loaded, the first effect is to cause the armature to slow down.
Therefore, the speed at which the armature conductors move through
the field is reduced and hence the back emf Eb falls.
The decreased back emf allows a larger current to flow through the
armature and
larger current means increased driving torque.
Thus, the driving torque increases as the motor slows down. The
motor will stop slowing down when the armature current is just
sufficient to produce the increased torque required by the load.
Motor load decreased, the driving torque is momentarily in
excess of the requirement so that armature is accelerated.
As the armature speed increases, the back emf Eb also increases and
causes the armature current Ia to decrease. The motor will stop
Commutation
 Brushless DC (BLDC) Motor
*The drawback of a brush-type motor is
eliminated by making an electronic
commutation process output an
to
trapezoidal voltage signal. AC

• A BLDC motor is fed with a DC supply, like a DC

motor, behaves similar to a synchronous
motor.
Brushless DC (BLDC) Motor
 Advantages of BLDC
• As no Motors
mechanical commutator and brushes are required, BLDC
motors require less maintenance and have much longer operating
life.
• No risk of sparking, fire, explosion, or electromagnetic radio
frequency (RF) radiation.
• Produce no carbon particles due to corrosion of brushes as in
conventional DC motors. Carbon particles often short circuit
commutator bars and hamper proper commutation in conventional
DC motors.
• Can be used in hazardous locations also where combustible gases
may be present. This will pose not much of a problem because
absence of brushes and commutator will ensure spark-free
operation, thereby reducing risk of fire in such environments.
• Reduced frictional losses due to absence of brushes and
commutator makes BLDC motor more efficient than conventional
DC motors.
• BLDC motors can be operated at much higher speeds (as high as
50,000 rpm) than conventional DC motors since at higher speeds
there is no chance of brush or commutator damage.
• Response time of BLDC motors is very fast due to electronic
control.
Limitations of Brushless DC motor
• These motors are costly
• Electronic controller required control this
motor is expensive
• Requires complex drive circuitry
• Need of additional sensors
 DC Servo Motor
• A DC servo motor: A precise position, speed, and
acceleration control.
• Components : Motors (DC or AC), gear train
feedback mechanisms, potentiometric position
control, and ICs for closed-loop control.
• DC servo motor has a fixed armature
voltage/current with a variable field current, fed
through a DC rectifier pulse known as pulse code
modulated (PCM) signal.
 Stepper Motor
*A stepper motor: Asynchronous motor to
output a mechanical discrete movement against
the supply of electrical pulses to its phase
windings.
*Rotor Movement: Function of frequency of the
electrical pulse applied as well as on the
sequence of application of the pulses.
*Total shaft movement and displacement:
Functions of duration of time.
• Energizing one or more stator coils causes the
rotor to step forward or backward to a position
that forms a path of least reluctance with the
magnetized stator poles (teeth).
• The angle through which the motor shaft rotates
in response to each command pulse is called the
step angle β.
• Smaller the step angle, greater will be number of
steps per revolution, and higher will be the
resolution and accuracy of positioning obtained.
• The step angle can be as small as 0.72o or as large
as 90o.
• Most common step sizes are 1.8o, 2.5o, 7.5o, and
15o
• The value of step angle can be given either in
terms of the rotor and stator poles (teeth)
Nr and Ns respectively, or in terms of
number of stator phases (m) and the

𝑁𝑠 − 𝑁𝑟
number of rotor teeth (poles):

𝛽 =
X360𝑁𝑠X
𝑁𝑟
36
𝛽 0
𝑚X
=
𝑁𝑟
•Resolution of a stepper motor is defined
as the number of steps it needs to complete
one revolution of the rotor shaft.
• A stepper motor with higher resolutions will
mean that it can be positioned
more accurately.
• Resolution is mathematically expressed as:

𝛿 = � ; Steps / Revolution
360 �
Types of Stepper Motor Winding
 Step Implementation

Two sets of identical winding

Steps : 15 ,30 ,45,60 90 ….degrees
(above step angle are normal)
 Advantages of Stepper Motor
• They are flexible and can be controlled
by input pulses.
• They have high torque at low speeds, making
them ideal for precision applications.
• They are cheaper than servo motors.
• They are safer and have a longer life as
they are brushless.
• They have excellent response to
starting, stopping, and reversing
 AC Motors
* Runs at AC supply.
*Types: 1Ф type or 3Ф type.
*Types of Three-phase AC motors:
Synchronous motors and
Asynchronous/Induction motors (IMs).
*A synchronous motor : Always runs
at the same speed, called the
synchronous speed.
*A three-phase IM: Squirrel-cage type
or Slip-ring type
 Overview of Three-Phase Induction
Motor
• Induction motors are used worldwide in
many residential, commercial, industrial,
and utility applications.
• Induction Motors transform electrical energy
into mechanical energy.
• It can be part of a pump or fan, or connected
to some other form of
mechanical equipment such as a
conveyor, or mixer.
General aspects
• A induction machine can be used as either
a induction generator or a induction motor.
• Induction motors are popularly used in
the industry
• Main features: cheap and low maintenance
• Main disadvantages: speed control is not easy
• Why induction motor (IM)?
–Robust
–High Power/Weight ratio compared to DC motor
–Lower Cost/Power
–Easy to manufacture
–Almost maintenance-free, except for bearing and
other mechanical parts
• Disadvantages

– Its speed depends on the frequency of the power

source
• not easy to have variable speed control
• requires a variable-frequency power-electronic drive
for optimal speed control
 Construction
• The three basic parts of an AC motor are the
rotor, stator, and enclosure.
• The stator and the rotor are electrical circuits
that perform as electromagnets.
 Construction (Rotor construction)
• The rotor is the rotating part of the
electromagnetic circuit.
• It can be found in two types:
– Squirrel cage
– Wound rotor
• However, the most common type
of rotor is
the “squirrel cage” rotor.
• Induction motor types:
 Squirrel cage type:
Rotor winding is composed of copper
bars embedded in the rotor slots and
shorted at both end by end rings
Simple, low cost, robust, low
maintenance
 Wound rotor type:
Rotor winding is wound by wires. The
winding terminals can be connected to
external circuits through slip rings and
brushes.
 Easy to control speed, more
AC Motors – Induction motor
Speed and slip
 Motor never runs at synchronous speed but
lower “base speed”
 Difference is “slip”
 Install slip ring to avoid this
 Calculate % slip:
% Slip = Ns – Nb x
100
Ns
Ns = synchronous speed in RPM
Nb = base speed in RPM
 AC Motors – Induction motor
Relationship load, speed and
torque

At 80% of full
AAtt speed:
ssttaarrtt:: highest “pull-
hhiigghh out” torque
ccuurrrreenn and current
tt aanndd drops
low “pull-up”
torque
At full speed:
torque and
stator current
are zero
 Construction
Squirrel cage rotor

Wound rotor

Notice the
slip rings
Squirrel-Cage
Rotor

Short circuits all

rotor bars.

/rotor winding
 Construction
Slip rings

Cutaway in a
typical wound-
rotor IM.
Notice the
brushes and
the slip rings

Brushes
 Single Phase AC Motors
It is basically a two phase motor as its phase is split
 Universal Motors
Runs on DC as well as AC power supply used in house
hold .
 Application
• DC Shunt motor: lathe, pumps, fan, saw machine
• DC series : electric traction, high speed tools
• Compound motor: rolling mill, load with
large momentary torque
• Servo motor : robotics, CNC machinery
• Stepper motor: CNCs, computer precision
positioning, laser cutting, digital control, for
focusing ect. camera auto
• 3Ф IM : punches, shears, elevators, hoist
• Universal Motors : Food processor, hair dryers,
fans, pumps, vacuum cleaner
• 1Ф IM : household appliances, office machinery
for individual load, clocks, drills, pump and refrigerators
• (capacitor start and run) : belt drives, small conveyors,
blowers and refrigerators
 Mechanical Actuating System
Mechanisms : Devices considered as
motion converters. Eg. IC engine ( linear
reciprocating motor to rotary motion)
A combination of kinematic chains with at
least one chain fixed to a transit motion.
Types of Mechanisms
(a) simple (four links)
(b) Compound (more than four links)
Change of speed - gear

Force Amplification - Lever

Transfer of rotation
Timing Belt
about one axis to
rotation about another -
 rack and
pinion

belt and chain drive

Cam
 Motion of an object
Translational Rotational

Degrees of Freedom :
Number of degrees of freedom of a motion
=Number of components needed to produce
the motion

Kinematics is used for study of motion

without regard to force or energy
 Power flow in machine
Energy 𝐸 = 0 ‫׬‬
�

𝑃 = 𝑓.𝑃 𝑑𝑡
�

𝑂𝑢𝑡𝑝𝑢𝑡
ɳ = 𝐼𝑛𝑝𝑢𝑡
𝑑 𝑃𝑜𝑤𝑒𝑟𝑝𝑜𝑤𝑒𝑟
Force f  through variable
Displacement d  across variable
Electrical P= V.I
Mech. Translatory motion P = Ud.F
Mech. Rotary motion P= wd T
Ud, wd  velocity difference
 Mechanisms in Mechatronic
• Based on types of motion :
Serial combination
1. Rotary to rotary (R–R)
Parallel Combination
2. Rotary to translation (R–T)
Hybrid Combination
3. Translation to rotary (T–R) Linear – screw drivers
4. Translation to translation (T–T) Belt-pulley
5. Helical to rotary (H–R)
6. Helical to translation (H–T) Non Linear –
7. Inversion of mechanism: Slider-crank mechanism
 Components of Mechanism
• Joints - link between 2 or more nodes
to generate relative motion
• Links – part of mechanism moving
relative to a rigid body for transmitting a
required force with or without negligible
deformation. Rigid link, Flexible link, Fluid
link.

Contains two
different elements of
two joints
 Kinematic Chains
• Four-bar Chains Crank, coupler
and lever / rocker

Used in automobiles such as motor car engine,

bikes and bicycle
 Gears
Transmit power and transfer a motion from one
shaft to another.
• Transmits Less power compared to chain ,
rope or belt
• Increase or decrease velocity ratio in various
machines
• Needs small space
• More efficient and effective
• Costly
• Eg. Watches , cranes
 𝜔𝑎
𝐺𝑒𝑎𝑟
𝑟𝑎𝑡𝑖𝑜 𝑇𝑏
𝐺 = =
𝜔𝑏
𝑇𝑎
 Types of Gear Drive Systems

• Spur gear
• Helical gear
• Crossed helical gear
• Bevel gear
• Worm gear
• Pinion–rack
 Gear Trains
Group of gear shaft wheels for increasing or
decreasing the speed of shaft wheel.
 Clutches
A coupling device used to separate the engine
and mechanical transmission .
Transmission system and engine
connected together
 Belt/Rope Pulley Drives
• Transmission of mechanical power from one
shaft to another. Long distance
transmission.
• Linear i/p – o/p
characteristics.
• Transmission due to
frictional
force between
pulley and belt.
𝑁2 𝑑1 + 𝑡
=
𝑁1 𝑑2
+ 𝑡 1 driver
 Cam–follower Mechanisms
To generate non-uniform linear or rotary follower
motion from uniform input motion of the cam.
Cami/p or driving member
Follower o/p or driven member
Displacement
Pick
Follower

Rise Return Back

Dwell Dwell

0
90 180 270
Pear shaped cam 360
Knife (Point) Edge Cam Followers
• Eccentric cams ( pumping system)
• Heart-shaped cams(uniform speed) OFFSET

• Pear-shaped cams ( engine valve

control)
Roller-type Followers (oil lubrication)
 Ratchets and Pawls
• Lock a mechanism when loaded
• Wind up a cable of a drum & prevent
unwinding
 Belt and Chain Drives
𝑇1 = (𝑇𝑡 - 𝑇𝑠)𝑅

𝑇2 = (𝑇𝑡 - 𝑇𝑠)𝑟

𝑃𝑜𝑤𝑒𝑟 = (𝑇𝑡 -
𝑇𝑠)𝑉
V  Belt=Speed
(𝑇𝑡 -
Driving pully

𝑇𝑠)𝑤𝑟

• Uses frictional force developed to transmit power

between shaft
• Transmission of torque takes place due to
difference in tension between the tight side
and slack side
Types of Belts Rectangular cross section
• Flat belts ɳ =98% with noise
Crowned pulley
• Round belts
• V belts
• Timing belts

• Toothed wheel
grooved belt grooved pulley
• Support slow
and Fast speed
• Constant
Timing Belt angular velocity V Belt
without slip
 Bearings
Stationary element used to support, guide & restrain
rotating shaft or axle to confine their motion

• Minimum frictional loss &

• Maximum accuracy
•Grease or lubricating
oil Types
• Linear Bearings
• Journal Bearings
• Hydrodynamic Bearings
Hydraulic and Pneumatic
Actuating Systems
 Introduction
• Mechanical actuators issues: Heavy weight,
friction, noise, temperature rise, and sometimes
pollution.
• A hydraulic signal: Produced by hydraulic pressure and
is used for higher-power control devices
• Pneumatic signal: Produced by air or gas pressure.
• Used to actuate large valves and other high-
power devices.
• A hydraulic and pneumatic system is collectively called
a fluidic system.
 Components of Hydraulic Circuits

• Reservoir.
• Pump
• Pressure gauge
• Flow meter
• Pressure relief valve
• Flow valve
• Accumulator
• Fluid control valve
• Check valve
• Hydraulic motor
 Valves /Types of Valves

Valve symbols
 Pressure Control Valves

• Pressure Relief (Limiting) Valves

• Pressure Regulators
• Pressure Sequencing Valves
 Pressure Relief (Limiting) Valves

Threshold

• Divert excess/all fluid out

to a tank when desired
pressure level • Prevent excess pressure
• Normally closed built up
 Sequence valve
• Port A – line pressure low –
cylinder 2 Clamping workpiece
• Pressure increase opens
valve of cylinder 1 –
machining process
 Directional Control Valves
Poppet Valve Spool Valve

NC check valve allows

reverse fluid flow when
opened under force
 Methods of Spool Actuation
• Manual - push button, Leg/ lever operated
• Mechanical actuation – Plunger, roller,
wheel
• Pneumatic actuation – force of air applied
to piston
• Electrical actuation – Solenoid ( AC or DC)
• Hydraulic actuation – Fluid discharged by a
pump
 Linear Actuators—hydraulic Cylinders
• A fluid power hydraulic cylinder performs its
task under pressure for movement which is
directly proportional to the applied force or
power; thus, it is treated as a linear actuator
• Classification of Cylinder
(a) single-acting cylinders (SACs) and
(b) double-acting cylinders (DACs).
 Flow Control Valves
• Flow control in hydraulic and pneumatic
circuits is required for the speed control of the
system using a linear or rotary motion.
• Types of flow
control: Fixed flow
valves, variable flow
valves,
and pressure-
compensated flow
 Contd...
Cylinder bore Poppet with a tapering needle
https://www.youtube.com/watch?v=xDZTxqCfDnY&t=50s
 Pneumatic Systems

• A pneumatic system is like a hydraulic

system
• Components :a compressor,
- an air treatment unit,
- a reservoir,
-a DCV with air as the medium
Contd...
 Pneumatic Valves
• Valves – Devices used to control the flow of
fluid by opening or closing, fully or
partially the fluid passage circuit.
• Directional Control Valves
• Spool Valves
The inlet pressure is connected to (P)1. (A)2 could
possibly be connected to one end of the double
acting cylinder where the piston will retract while
(B)4 is connected to the other end that will make the
piston extend.
 Pneumatic Cylinders
Types of Pneumatic cylinders :
-single-acting and
_ double-acting types
 Pneumatic Circuits
• A pneumatic circuit components: a
compressed air ,an SAC or a DAC with a three-
way or a 5/2-way valve.

https://www.youtube.com/watch?v=AhjyPhohbnU&t=3s

https://www.youtube.com/watch?v=CzbVGDOd0GY
Contd...
Thankyou