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    Robot Actuators:: Actuators Are Used For Converting The Hydraulic, Electrical or

    Uploaded by

    Nani Kumar
    Robot actuators convert energy into mechanical motion to move robot parts. Actuators include pneumatic, hydraulic, and electric options. Pneumatic actuators are popular and use compressed air routed through valves to push/pull cylinders and drive motion. They are inexpensive but lack precision due to air compressibility.

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    © All Rights Reserved
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    Robot Actuators:: Actuators Are Used For Converting The Hydraulic, Electrical or

    Uploaded by

    Nani Kumar
    123 views12 pages
    Robot actuators convert energy into mechanical motion to move robot parts. Actuators include pneumatic, hydraulic, and electric options. Pneumatic actuators are popular and use compressed air routed through valves to push/pull cylinders and drive motion. They are inexpensive but lack precision due to air compressibility.

    Original Description:

    Classification of Robot Actuators

    Original Title

    Robot Actuators

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    Robot actuators convert energy into mechanical motion to move robot parts. Actuators include pneumatic, hydraulic, and electric options. Pneumatic actuators are popular and use compressed air routed through valves to push/pull cylinders and drive motion. They are inexpensive but lack precision due to air compressibility.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    123 views12 pages

    Robot Actuators:: Actuators Are Used For Converting The Hydraulic, Electrical or

    Uploaded by

    Nani Kumar
    Robot actuators convert energy into mechanical motion to move robot parts. Actuators include pneumatic, hydraulic, and electric options. Pneumatic actuators are popular and use compressed air routed through valves to push/pull cylinders and drive motion. They are inexpensive but lack precision due to air compressibility.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 12

    ROBOT ACTUATORS:

    ➢ Actuators are used for converting the hydraulic, electrical or


    pneumatic energy into mechanical energy.

    ➢ The special applications of actuators are lifting, clamping,


    opening, closing, mixing bending, buckling etc.

    ➢ Actuators perform the function just opposite to pumps.

    52
    ROBOT ACTUATORS:

    ➢ Actuators are the muscles of robot. If we consider the links


    and joints as the skeleton of the robot, the actuators act as
    muscle.

    ➢ They 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 and it should be
    light, economical, accurate, responsive, reliable, and easy to
    maintain.

    53
    TYPES OF ACTUATORS OR DRIVES:

    ➢ There are many types of actuators available, certain types are


    as follows.

    1. Pneumatic actuators.

    2. Hydraulic actuators.

    3. Electric motors.

    (i) AC servomotor.

    (ii) DC servomotor.

    (iii) Stepper motor.

    (iv) Direct drive electric motors.


    54
    PNEUMATIC ACTUATORS

    Pneumatic Power Drives:

    ➢ Pneumatic system will employ a linear actuator. (i.e.) Double


    acting cushioned cylinder.

    Working Principle:

    ➢ Pneumatic power drive systems use compressed air to move


    the robot arm.

    55
    PNEUMATIC ACTUATORS

    ➢ Air is compressed by an air compressor and then the


    compressed air is directed through Filter, Regulator and
    Lubricator (FRL) units to the hose pipes and then to the
    pneumatic cylinders through the directional control valve.

    56
    PNEUMATIC ACTUATORS

    57
    PNEUMATIC ACTUATORS

    ➢ For stable supply, air compressor usually pumps air into a


    storage tank and from there, it passes through FRL units to
    the pneumatic cylinder.

    ➢ Figure 2.1 clearly illustrates the schematic sketch of


    pneumatic power drive.

    ➢ As the air enters into the cylinder via the directional control
    valve, the piston moves on its outward stroke and when the
    air is diverted to enter into the other end of the cylinder, the
    piston makes the return stroke.

    58
    PNEUMATIC ACTUATORS

    ➢ The return air is exhausted into the atmosphere.

    ➢ Pneumatic control valve can be operated by either levers,


    rollers or solenoids and this can also be pilot operated.

    ➢ Solenoid controlled valves are most common and they can be


    operated by micro switches which energize the solenoids.

    59
    ADVANTAGES OF PNEUMATIC ACTUATORS

    ➢ It is cheapest form of all actuators.

    ➢ Components are readily available and compressed air


    normally is an already existing facility in factories.

    ➢ Compressed air can be stored and conveyed easily over long


    distances.

    ➢ They have few moving parts making them inherently reliable


    and reducing maintenance costs.

    ➢ Compressed air is clean, explosion proof and insensitive to


    temperature fluctuations, thus useful to many applications.

    60
    ADVANTAGES OF PNEUMATIC ACTUATORS

    ➢ No mechanical transmission is usually required.

    ➢ The systems are usually compact.

    ➢ Control is simple e.g: Mechanical stops are often used.

    ➢ Individual components can be easily interconnected.

    ➢ They have a very quick action and response time thus


    allowing for fast work cycles.

    61
    DISADVANTAGES OF PNEUMATIC ACTUATORS

    ➢ Pneumatics are not suitable for moving heavy loads and


    precise control due to the compressibility of air. This
    compressibility necessitates the application of more forces
    than would normally be necessary to ensure that the
    actuator is firmly in position against its stop under loading
    conditions.

    ➢ If moisture penetrates the units and ferrous metals have


    been used, then damage to individual components will result
    in.

    62
    DISADVANTAGES OF PNEUMATIC ACTUATORS

    ➢ If mechanical stops are used, then resetting the system will


    become slow.

    63

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