KCT COLLEGE OF ENGINEERING & TECHNOLOGY DEPARTMENT OF ME

DEPARTMENT OF MECHANICAL
ENGINEERING

LAB MANUAL
SUBJECT: INDUSTRIAL AUTOMATION & ROBOTICS

B.TECH- 5th Semester BRANCH: - ME

KCT COLLEGE OF ENGG & TECH,

FATEHGARH

Punjab Technical University

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LIST OF PRACTICALS

Sr.
Name of Experiment
No.

1 Design and assembly of hydraulic/pneumatic circuit.

2 Study of power steering mechanism using cut piece model.

Study of reciprocating movement of double acting cylinder

3
using pneumatic direction control valves.

Use of direction control valve and pressure control valves

4
clamping devices for jig and fixture.

5 Study of robotic arm and its configuration.

6 Study of robotic end effectors.

7 Study of different types of hydraulic and pneumatic valves.

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PRACTICAL NO. 01
AIM: - DESIGN AND ASSEMBLY OF HYDRAULIC/PNEUMATIC CIRCUIT.

THEORY: -

1.1 INTRODUCTION
The circuit is defined as a pictorial representation of the working of a system using
symbols. The hydraulic/pneumatic circuit must essentially include the symbols of the
following:

 Power/Pressure source
 Reservoir( In Hydraulic Systems)
 Fluid lines
 Filter
 Lubricator (In pneumatic system)
 Pressure Regulator( For example Relief Valve)
 Direction Control Valves
 Flow Control valves ( If speed regulation is desired)
 Special Purpose valves( if required)
 Actuators etc.

The circuit must be a closed in case of hydraulic where incompressible oil is used as an
actuating fluid. The circuit must ensure the proper working of the actuators along with a
control strategy. The safety aspect must also be taken into consideration. The system
should function in a logical manner. The design must be as simple as possible and the
logic should be apparently clear. Proper connections must be ensured before releasing
the fluid under pressure from the source into the system.

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1.2 PROBLEM

To control a double acting pneumatic cylinder in such a way that during the return stroke
the speed of the piston shall be adjusted. There is no stopping of the piston rod in
between the terminal points.

(The piston rod of a double-acting pneumatic cylinder extracts if right hand side push
button of the 5/2 DC valve is pressed and the cylinder should retract when the left hand
side push button of the DC valve is pressed. Also there should be a provision for speed
control of cylinder during the return stroke)

1.3 SOLUTION

To design a circuit, we shall be making use of symbols of various components. First of

all compressor is used as a power/pressure source as the problem refers to a
pneumatic system. Then the air coming out of the compressor needs to be conditioned.
For the same a FRL unit is put in the pressure line of the compressor. As we know that

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we have to control a double acting cylinder which doesn’t have to stop in between so we
chose a 5 port,2 position pushbutton actuated, spring return direction control valve. We
have to provide an adjustable speed control during the retracting motion of the cylinder,
so a non return type adjustable flow control valve is put in between the actuator and the
DC valve so as to ensure a throttling in speed control of cylinder.

1.4 PNEUMATIC CIRCUIT FOR THE PROBLEM

1.5 THINGS TO REMEMBER

 Physical arrangement of the elements is ignored.

 Draw the cylinders and directional control valves horizontally wherever possible.
 The energy flow within the circuit moves from the bottom to the top.
 Energy source can be shown in simplified form.
 Show elements in the initial position of the control. Identify actuated elements by a
cam.

 Draw pipelines straight without cross-over wherever possible.

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PRACTICAL NO. 02

AIM: - STUDY OF POWER STEERING MECHANISM USING CUT PIECE MODEL.

THEORY

2.1 INTRODUCTION

A power steering is a modified steering system in which the human effort is

supplemented with the external agency which is required for steering the wheels.
There are two main parts to the power steering system: the pump and the steering gear.
In most cases, the pump is attached to the front of the engine and driven by the
accessory drive belt. The fluid reservoir (where you add fluid) is usually located on the
pump. The pump should be sized to deliver sufficient fluid pressure at idle. As the pump
spins faster as engine speed increases, a pressure relief valve is used to keep the
pressure at the desired levels. In some cases, the engine driven pump may be replaced
by an electric pump (therefore there won't be a belt running to the pump).

There are two major types of steering gears used:

1. Rack and pinion

2. Recirculating ball type

Figure 2.1: Cut-away view of a power assists rack and pinion

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2.2 WORKING

The pinion (2) is attached to the steering shaft which is attached to the steering
wheel. Thus, as the steering wheel is turned, the teeth in the pinion mesh with
the rack (1) and slides the rack left and right. The rack is attached to the tie rods
(3) which in turn attach to the knuckle (not shown) and tire. That's manual
steering with a rack and pinion.

In the power assist system, fluid from the pump (high pressure side) enters the
steering gear at (4) and returns (low pressure side) at (5). A valve system inside
the gear box directs fluid out at (6) and (7) which re-enters the gearbox at (8)
and (9). This pressurized fluid acts on the power piston (10) to assist steering.
Thus, if the driver is turning right, additional fluid is directed to the right side of
the piston, which helps move the rack and therefore steer the tires.

Fluid is directed to either the right or left sides by means of a rotary valve and
torsion bar. Through this mechanism, the fluid pressure (and thus the amount of
"assist") is proportional to the torque due to steering effort, and not the direction
that the wheels are turned. In other words, it is possible for the system to help
you turn left, even if the steering wheel is right of center. Here is a sketch of the
rotary valve. Only one quarter is shown (it's symmetrical).

Figure 2.2: Sketch of one quarter of the rotary valve during left turn

The various positions of rotary control valve is shown in this figure give below:

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Figure 2.3

The torsion bar (a torsional spring) connects the steering shaft to the pinion. As
stated at autoshop-online.com, "When the steering wheel is turned, resistance is
created by the weight of the car and tire-to-road friction, causing a torsion bar in
the rotary valve to deflect. This changes the position of the valve spool and
sleeve, thereby directing fluid under pressure to the proper end of the power
cylinder."Here's another sketch of the rotary valve in a hard right turn.

Figure 2.4: Sketch of one quarter of the rotary valve during right turn

As you can see, as the torsion bar twists, it changes the alignment between the input
shaft and valve sleeve, delivering more pressure to one side, and less to the other.

2.3 OPERATION:

Figure below shows an automotive power steering example of a mechanical-hydraulic

servo system (closed loop system). Operation is as follows:

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Figure 2.5 Automotive power steering system

1. The input turn of spool of rotary valve is achieved by turning of the steering wheel.
2. This moves the valve sleeve, which ports oil to the actuator (steering cylinder).
3. The piston rod moves the wheels via the steering linkage.
4. The valve spool is attached to the linkage and thus moves with it.
5. When the valve spool has moved far enough, it cuts off oil flow to the cylinder. This
stops the motion of this actuator.
6. Additional motion of the steering wheel is required to cause further motion of the
output wheels.

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PRACTICAL NO. 03

AIM: - STUDY OF RECIPROCATING MOVEMENT OF DOUBLE ACTING CYLINDER

USING PNEUMATIC DIRECTION CONTROL VALVES.

THEORY: -

3.1 INTRODUCTION
A double acting cylinder is to advance when a push button is operated. Upon release of
the push button the cylinder is to retract. The cylinder is 250 mm in diameter and
consumes a large volume of air. Draw the circuit diagram for the problem. Designate the
valves and indicate the numbering system for the connections.

For controlling cylinders at high speed or of large diameter, the air flow required
determines that a large size control valve should be used. The operating force to
actuate the valve may be relatively large and in this case indirect control is preferable.

A 4/2-way or 5/2-way direction control valve controls the double acting cylinder if the
piston is not to be stopped in between and 4/3 way or 5/3 way direction control valve
controls the cylinder in which the piston can be stopped anywhere required.

A signal is generated or reset on the valve, if a push button actuator is pressed or

released. The circuit includes:

 Supply air source(Compressor)

 Air connections among supply,
 FRL Unit for conditioning of air
 Double acting cylinder
 4/2-way/5/2-way/4/3-way/5/3-way directional control valve: push button and
lever for operation and spring for return force
 Adjustable Non return flow control valves for speed control(throttling out)
 Fluid Lines

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3.2 Basic Pneumatic Circuit with a 5/2 DC valve.

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System using 5/3

DC valve with no
actuation and the
piston is in its
initial position
(Retracted)

System using 5/3

DC valve with
actuation released
when the piston is
at the middle

System using 5/3

DC valve with
actuation selected
and the piston is at
the extracted
position.

Double acting Cylinder control Double acting Cylinder control

using a 5/2 DC Valve with using a 5/2 DC Valve with
push button actuation on one
FRFGG push button actuation on
side other side and piston in
extracted position
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Double acting Cylinder control

Double acting Cylinder control
using a 4/2 DC Valve with
using a 4/2 DC Valve with push button actuation on
push button actuation on one
other side and piston in
side extracted position

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3.3 PRECAUTIONS

 Draw the cylinders and directional control valves horizontally wherever possible.
 The energy flow within the circuit moves from the bottom to the top.
 Show elements in the initial position of the control. Identify actuated elements by a
cam.
 Draw pipelines straight without cross-over wherever possible.

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PRACTICAL NO. 04

AIM: - USE OF DIRECTION CONTROL VALVE AND PRESSURE CONTROL VALVES CLAMPING DEVICES
FOR JIG AND FIXTURE.

THEORY: -

4.1 PROBLEM
A plastic cubical component is embossed using a die driven by a double-acting cylinder
2. The die is to advance and emboss the plastic component only after clamping. The
cylinder 1 is to be used for clamping. The cylinder 2 must operate in a sequential way
only when the cylinder 1 has caught hold of the plastic piece. The embossing pressure
or working pressure of the cylinder 2 must is to be adjustable.

4.2 SOLUTION
This problem can very easily be tackled by using a sequence valve as shown in the
given figure If the piston rod is not in its initial position, the must be reset by operating
the manual override on the 5/2-way double pilot valve.

All valves are unactuated in the initial position, pressure is applied at the piston rod side
of the cylinder and the piston rod remains in the retracted state. Circuit diagram for
solution to this problem is shown in figure 4.1 below. The circuit includes:

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 Double acting cylinder

 5/2-way double pilot directional control valve
 Pressure sequence valve
 3/2-way push button operated spring return DC valve
 Supply air source
 Air connections among supply, DC valve and cylinder

4.3 PRECAUTIONS

The response pressure set on the pressure sequence valve must be lower than the
system pressure in order to ensure reliable switching.

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PRACTICAL NO. 05

AIM: - STUDY OF ROBOTIC ARM AND ITS CONFIGURATION.

THEORY: -
There are in general 5 basic configurations namely

1. Cartesian
2. Spherical
3. Cylinderical
4. Jointed Arm
5. SCARA

5.1 CARTESIAN CONFIGURATION

Cartesian/Rectilinear/Gantry - Positioning is done in the workspace with prismatic

joints. This configuration is well used when a large workspace must be covered,
or when consistent accuracy is expected from the robot. It is a PPP configuration
& is used for pick and place work, application of sealant, assembly operations,
handling machine tools and arc welding. It's a robot whose arm has three
prismatic joints, whose axes are coincident with a Cartesian coordinator.

5.2 SPHERICAL CONFIGURATION

Spherical - Two revolute joints and one prismatic joint allow the robot to
point in many directions, and then reach out some radial distance It is a
RRP configuration & is used for handling at machine tools spot welding,

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die-casting, fettling machines, gas welding and arc welding.

It's a robot whose axes form a polar coordinate system.

5.3 CYLINDERICAL CONFIGURATION

Cylindrical - The robot has a revolute motion about a base, a prismatic joint for
height, and a prismatic joint for radius. This robot is well suited to round
workspaces. It is a RPP configuration & is used for assembly operations,
handling at machine tools, spot welding, and handling at die-casting machines.
It's a robot whose axes form a cylindrical coordinate system.

5.4 JOINTED ARM CONFIGURATION

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Articulated/Jointed Spherical/Revolute - The robot uses 3 revolute joints to

position the robot. Generally the work volume is spherical. This robot most
resembles the human arm, with a waist, shoulder, elbow, and wrist. This
configuration is RRR configuration & is useful for pick & Place operations. It has
got the flexibility to handle the object beneath or above the arm.

5.5 SELECTIVE COMPLIANCE ARTICULATED ROBOTIC ARM (SCARA)

This robot conforms to cylindrical coordinates, but the radius and rotation
is obtained by a two planar links with revolute joints. It is a RRP
configuration & is used for pick and place work, application of sealant,
assembly operations and handling machine tools. It's a robot which has
two parallel rotary joints to provide compliance in a plane
5.6 WORK VOLUMES

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Work Volume is defined as the 3 Dimensional Space around the arm where it
can reach again & again with a desired accuracy & precision.

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Joints
S.NO Configuration Advantages /Disadvantages
Type

Advantages

1. Linear motion in 3 dimensions

2. Simple Kinematic Model
3. Rigid Structure
Cartesian PPP 4. Easy to visualize
1 5. Compatible With pneumatics
Disadvantages

1. Requires a large volume

2. Workspace is smaller than robot volume.
3. Unable to reach areas under objects
4. Guiding surfaces are required
5. Must be covered to prevent ingress of dust
Advantages

1. Simple Kinematic Model

2. Easy to visualize
3. Good access to cavities & machine openings
2 Cylinderical RPP 4. very powerful with hydraulic drives
Disadvantages

1. Restricted work space

2. Prismatic guide difficult to seal
3. Back of robot can overlap work volume.
Advantages

Spherical 1. Covers a large volme from a central

support.
3 RRP 2. Can bend down to pick up fallen objects.
Disadvantages

1. Complex Kinematic model

2. Difficult to visualize
Advantages

1. Maximum Flexibility
2. Covers a large work space compared to
work volume
3. Revolute joints are easy to seal
4 Jointed Arm RRR 4. Suits electric drives
5. Can reach over & under objects
Disadvantages

1. Complex Kinematic model

2. Difficult to visualize
3. Control of linear motion is difficult
4. Structure not very rigid

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PRACTICAL NO. 06

AIM: - STUDY OF ROBOTIC END EFFECTORS.

THEORY: -

6.1 INTRODUCTION

The end of the manipulator is the part the user or robot uses to affect something in the
environment. For this reason it is commonly called an end-effector, but it is also called a
gripper since that is a very common task for it to perform when mounted on a robot. It is
often used to pick up dangerous or suspicious items for the robot to carry, some can
turn doorknobs, and others are designed to carry only very specific things like cans.
Closing too tightly on an object and crushing it is a major problem with autonomous
grippers. There must be some way to tell how hard is enough to hold the object without
dropping it or crushing it. Even for semi-autonomous robots where a human controls the
manipulator, using the gripper effectively is often difficult. For these reasons, gripper
design requires as much knowledge as possible of the range of items the gripper will be
expected to handle. Their mass, size, shape, and strength, etc. all must be taken into
account. Some objects require grippers that have many jaws, but in most cases,
grippers have only two jaws and those will be shown here.

6.2 Types of Grippers

1. Mechanical grippers
2. Collet grippers
3. Vacuum grippers
4. Fragile-object grippers
5. Magnetic grippers
6. Expandable grippers

MECHANICAL GRIPPERS

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Mechanical grippers are the most common grippers available. They make use of levers,
gears, springs etc to hold objects. They can be angular or parallel

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COLLET GRIPPERS

Collet grippers are used to pick and

place cylindrical parts that are uniform in
size. They are particularly used where
the end tooling is required for machining
operations etc.360° of clamping contact
is achieved in such grippers and round,
square or hexagonal shapes can be
accommodated.

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VACUUM GRIPPERS

Vacuum grippers make use of negative pressure to

hold the things. Smooth surface can be handled
using such grippers. They utilizes suction cups
made of natural or synthetic rubber. Number of
grippers (cups) determines the size and weight of
object to be grasped Handling of fragile parts.
Positioning of parts not as critical as with other
grippers

FRAGILE-OBJECT GRIPPERS

Fragile grippers have got cushioning in their grips along with they are provided with
force control system on the grips in the form of load cells or adjustable pressure control
so that the object of interest is gripped properly without damage. These grippers are
used to handle sophisticated, delicate and prone to fracture objects in which the amount
of compliance required is controllable and which plays a great role.

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MAGNETIC GRIPPERS

These grippers work on the principle of

magnetic effect either from a Electromagnet or
permanent magnet. If permanent magnet is
used, there needs to be some stripping device
to separate part from gripper. Ferrous parts,
easier to handle if surface is smooth and clean.
Support grippers. Crane-type manipulators
have support grippers, e.g. hooks, scoops etc.
The main problem is that objects have a
tendency to topple over or fall with quick
movements. The wire as shown carries the
electric supply which makes an scoop or hook
as electromagnet thereby attracting the ferrous
material.

EXPANDABLE GRIPPERS

These grippers are made up of hollow rubber

envelope which expands when pressurized to
grasp object. Such grippers are employed
where evenly distributed pressure on surface is
required for gripping. There are two types of
expandable grippers: interior or exterior
grasping.

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PRACTICAL NO. 07

AIM: - STUDY OF DIFFERENT TYPES OF HYDRAULIC AND

PNEUMATIC VALVES.

THEORY: -

7.1 INTRODUCTION
The function of valves is to control the pressure or flow rate of pressure media. The
principle of operation of most valves is the same. A valve is a variable area orifice
where the orifice area may be controlled by conditions in a circuit, for example a
pressure relief valve operates without operator intervention. Alternatively the orifice
area may be controlled by an operator as in a directional control valve. Valves are
used in hydraulic & pneumatic systems to control the operation of the actuators.
Valves regulate pressure by creating special pressure conditions and by controlling
how much oil will flow in portions of a circuit and where it will go. The three
categories of hydraulic valves are pressure-control, flow- (volume-) control, and
directional-control. Some valves have multiple functions, placing them into more than
one category. Valves are rated by their size, pressure capabilities, and pressure
drop/flow. Depending upon design, these can be divided into following categories:

Direction control valves

Flow control valves

Pressure control valves

Special Purpose Valves

Logic Valve

Servo Valves

7.2 DIRECTION CONTROL VALVES

Directional-control valves also control flow direction. However, they vary considerably
in physical characteristics and operation. Directional-control valves may also be
classified according to the method used to actuate the valve element. A poppet-type
valve is usually hydraulically operated. A rotary-spool type may be manually (lever or
plunger action), mechanically (cam or trip action), or electrically (solenoid action)
operated. A sliding-spool type may be manually, mechanically, electrically, or
hydraulically operated, or it may be operated in combination. The valves maybe a

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1. Poppet type, in which a piston or ball moves on and

off a seat. It consists primarily of a movable poppet
that closes against a valve seat. Pressure from the
inlet tends to hold the valve tightly closed. A slight
force applied to the poppet stem opens the poppet.
The action is similar to the valves of an automobile
engine. The poppet stem usually has an O-ring seal
to prevent leakage. In some valves, the pop-
petsare held in the seated position by springs. The
number of poppets in a valve depends on the
purpose of the valve.

2. Rotary Spool Control type, in which a spool rotates about its axis and the
angular displacement of the spool, controls the flow of fluid from one

port to another. It is therefore used in hydraulic power steering of automobiles

in which direction of rotation of the steering wheel determines the steering
direction of the wheels.

3. Sliding Spool Valve is simplest form of spool is a series of small cylindrical

drums on a shaft. Each drum may be called a land. The minimum number of
lands in a spool valve is two, but four are often used in more expensive valves,
such as the proportional type, to achieve more accurate guidance. The valve
body has grooves machined in the bore. The edges of the spool lands and the
grooves in the bore are machined to a vanishing small radius, so the cylindrical

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ring orifice that is formed by the displacement of the spool on the bore has
sharp edges. Spool valves, however, require good maintenance.

Sliding-spool type, in which a spool slides axially in a bore. In this type, a spool
is often classified according to the flow conditions created when it is in the
normal or neutral position. A closed-center spool blocks all valve ports from
each other when in the normal position. In an open-center spool, all valve
ports are open to each other when the spool is in the normal position. .

Directional-control valves may also be classified according to the number of positions

of the valve elements or the total number of flow paths provided in the extreme
position.

Two way, two position

normally closed normally open

Three way, two position

normally closed normally open

Four way, two position

For example, a three-position, four-way valve has two extreme positions and a
center or neutral position. In each of the two extreme positions, there are two flow
paths, making a total of four flow paths or four way or four ports.

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7.3 FLOW CONTROL VALVES

The purpose of flow control in a hydraulic system is to regulate speed of the system.
The control the speed of an actuator is carried out by regulating the flow rate of the
fluid passing through it. Flow rate also determines rate of energy transfer at any
given pressure. The two are related in that the actuator force multiplied by the
distance through which it moves (stroke) equals the work done on the load. The
energy transferred must also equal the work done. Actuator speed determines the
rate of energy transfer (i.e., horsepower), and speed is thus a function of flow rate.

The flow control valves are of two types:

 Fixed flow control valves

 Variable flow control valves

Fixed Flow Control Valve Variable Flow Control Valve

In fixed flow control types of valves the amount of fluid passing through it remains
fixed whereas in the variable flow control valves there is a provision of controlling the
flow of fluid passing through it.

One more type of flow control valve is

Restricted Flow Control Valve. In this valve
the in one direction the flow is free to move
and in the other direction the flow can be
controlled. These are widely used in
controlling the speed of various actuators.

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7.4 PRESSURE CONTROL VALVES:

A pressure-control valve may limit or regulate pressure, create a particular pressure
condition required for control, or cause actuators to operate in a specific order. All pure
pressure-control valves operate in a condition approaching hydraulic balance. Usually
the balance is very simple: pressure is effective on one side or end of a ball, poppet, or
spool and is opposed by a spring. In operation, a valve takes a position where hydraulic
pressure balances a spring force. Since spring force varies with compression, distance
and pressure also can vary. Pressure-control valves are said to be infinite positioning.
This means that they can take a position anywhere between two finite flow conditions,
which changes a large volume of flow to a small volume, or pass no flow.

Most pressure-control valves are classified as normally closed. This means that
flow to a valve's inlet port is blocked from an outlet port until there is enough pressure to
cause an unbalanced operation. In normally open valves, free flow occurs through the
valves until they begin to operate in balance. Flow is partially restricted or cut off.
Pressure override is a characteristic of normally closed-pressure controls when they are
operating in balance. Because the force of a compression spring increases as it lowers,
pressure when the valves first crack is less than when they are passing a large volume
or full flow. The difference between a full flow and cracking pressure is called override.

The simplest example of a pressure control

valve is relief valve. The relief valve is used
to release the extra pressure if mounted in
the system against the set pressure. It
works on the principle of counterbalance of
forces. The tension in the controlling spring
is adjusted against the pressure of the fluid
acting in the system. If the force exerted
due to pressure is more than the spring
tension then the extra pressure is relieved
Relief Valve
to the atmosphere.

Relief valves come in two forms. In the direct acting type, the pressure to be relieved
acts directly on the fluid regulating element. This type is commonly employed in
systems with relatively low flow rates. Where high flow rates must be passed, a pilot
operated type is commonly employed. In this type the pressure to be controlled acts

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on a pilot. As soon as this pilot allows flow, the pressure difference across the main
regulating element becomes large enough to provide a force that causes the valve to
open rapidly because the spring controlling the main element is light.

NON RELIEVING TYPE PRESSURE CONTROL VALVE

In non relieving type pressure control system the system pressure acts on a
diaphragm which is resting on a spring whose tension can be adjusted. As the
pressure in the system is less than the spring tension and the system pressure, the
poppet will move down and allow more fluid to enter from the pressure line and if the
system pressure is low the diaphragm will move up causing the poppet to close on
the seat thereby restricting the flow of fluid from the source into the system. In this
way the pressure is regulated without relieving the fluid to move out of the system.

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RELIEVING TYPE PRESSURE CONTROL VALVE

In this type of pressure regulating device there is an arrangement of vent through

which if somehow an extra pressure is maintained in the system, then that can be
relieved.

These pressure regulating devices are employed where there is high pressure to
deal with and the excessive pressure can be allowed to go back into the reservoir or
to be liberated.These pressure regulating devices are provided in the high pressure
line between the source and the direction control valves as shown in the figure given
below.

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Pressure protection of a system with a relief valve.

PRESSURE SEQUENCING VALVE

It is often necessary for two actions to take place sequentially. For example, in a
machining operation the work piece may be clamped by one actuator and after the
clamping action is completed a drill head may be moved by another actuator. At the
end of clamping, the actuator extension is blocked and the pressure will rise. This
pressure rise can be sensed by a sequencing valve and the flow diverted to a
secondary circuit. A sequencing valve is a special application of a direct action relief
valve (Figure 7.17). The pressure differential across the fluid control element is
between the primary circuit pressure and the reservoir.

7.5 SPECIAL PURPOSE VALVES

CHECK VALVE

The check valve in the system is to check the direction of fluid flow in the reverse

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direction. This is also called as unidirectional valve as it allows the flow only in on
direction

QUICK EXHAUST VALVE

This valve is used when the used air is removed from the actuator in a very short
time. In this valve the fluid is allowed to come from a constricted opening from P due
to a flexible ring but is allowed to escape from a bigger opening R and thereby
venting the fluid from the system in a very small time. To make the unproductive
strokes faster such valves are used which can help in reducing the cycle time.

TIME DELAY VALVE

Time delay valve is a valve in which there is

an arrangement of three ports. One port is
for pressure supply and the other one the
output port. The third one is the trigger port
and when the pilot pressure is applied on
this trigger port, the delay starts .This delay
can be adjusted by the movement of the set
screw of needle valve. As the delay period
is over the pressure line gets connected to
the output line.

7.6 LOGIC VALVES Time Delay Valve

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Logic valves are those valves which work on the principle of gates.

1 Shuttle Valve/ OR Gate:

This valve acts like a or gate. Here there are

two inputs X & Y and one output A.

When there is supply or input at any of X or

Y or both the output can be collected from
port A based on OR Logic
Shuttle Valve

2 Twin Pressure Valve/AND Gate:

This valve acts like a AND gate. Here there

are two inputs X & Y and one output A. When
there is supply on both inputs then only the
output can be collected from port A based on
AND Logic. In this valve 1 and 2 are inputs
and 3 is output. Output only occurs when
there is an and preposition between the
inputs TWIN PRESSURE VALVE

7.7 SERVO VALVES

These are infinite position valve which gives their output on the basis of a feedback
signal from the system

1. Angular displacement Servo Valve

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Servo name is associated with the feedback. The spool movement is connected to a
angular displacement measuring system which calibrates it in an electrical

signal. The movement of the servo can be controlled using the feedback electrical
signal.

2 Jet Flapper Servo Valve

In jet flapper servo valve when the flapper is in the centre the spool is at normal mean
position. As there is some variation then the flapper closes the opening of the jet
nozzles restricting the release of fluid and a differential pressure is created at the ends
of the spool valve. This differential pressure acts on the spool valve and is responsible
for the actuation of the spool thereby controlling the fluid.

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