For more detail visit to www.ESO.

com

3.1 Name the components of a joint actuating system.

The motion imposed to a manipulator's joint is realized by an actuating system which in
general consists of: a power supply, • a power amplifier, • a servomotor, • a transmission.

3.2 What is an actuator?

An actuator is a component of a machine that is responsible for moving and controlling a
mechanism or system, for example by opening a valve. In simple terms, it is a "mover". An
actuator requires a control device and a source of energy.

3.3 Give the requirements of an actuator for robotic applications.

The type of actuator required for a given application will depend on the robot’s purpose and
intended functionality. For example, a DC motor will likely be used in conjunction with a
drivetrain to allow for mobility, while a servo is often used to provide articulation such as that
found in a robotic arm.

Once the type of actuator has been decided upon, developers should look at the physical
requirements and constraints. The first aspect to look for is the physical size and weight of the
actuator itself to see if it will fit where it is needed, and if the combined weight of the actuator
and mechanism on which it’s mounted is appropriate. For example, placing a heavy actuator
on a small, weak robotic arm may cause the arm to fail under its own weight.

3.4 What are different actuators?

Types of Actuators | Linear, Electric, Magnetic, Pneumatic, Rotary, Hydraulic - Creative
Motion Control.

3.5 List the advantages and disadvantages of electric motors.

Electric motors have a number of advantages when compared to traditional engines. The initial
cost of an electric motor is much lower than a fossil-fuel engine with the same horsepower
rating. Electric motors have relatively few moving parts, which means they have a longer
lifespan. Typically, an electric motor that is properly maintained offers up to 30,000 hours of
operating life without needing major repairs. Overall, electric motors require minimal
maintenance service.

1|Page
 For more detail visit to www.ESO.com

Electric MotorsAdditionally, electric motors are highly efficient, and automated controls allow
for automatic and remote start and stop functions. Electric motors don’t require fuel, so there
is no engine oil maintenance or battery service, and they don’t freeze in sub-zero temperatures.

There are some disadvantages, though, with electric motors. For instance, many large electric
motors are not easily portable, and consideration must be made for the correct electrical supply
and voltage. Sometimes expensive line extensions are necessary in remote locations where
existing electrical power is not available. Also, if you are using a high-horsepower motor and
a low load factor, you might have a high cost per hour of operation.

3.6 What are the types of stepper motors?

Permanent Magnet Stepper. PM steppers have rotors that are constructed with permanent
magnets, which interact with the electromagnets of the stator to create rotation and torque.
PM steppers usually have comparatively low power requirements and can produce more
torque per unit of input power.

Variable Reluctance Stepper. VR stepper rotors are not built with permanent magnets.
Rather, they are constructed with plain iron and resemble a gear, with protrusions or “teeth”
around the circumference of the rotor. The teeth lead to VR steppers that have a very high
degree of angular resolution; however, this accuracy usually comes at the expense of torque.

Hybrid Synchronous Stepper. HS stepper rotors use the best features of both PM and VR
steppers. The rotor in an HS motor has a permanent magnet core, while the circumference is
built from plain iron and has teeth. A hybrid synchronous motor, therefore, has both high
angular resolution and high torque.

3.7 Why are dc motors preferred as servomotors?

DC motors, while far less complex than servo motors are also easy to control; reverse the leads
to change directions, and change the voltage to change the speed. These motors are both easily
controllable, but their gap in complexity changes the resolution of control.

3.8 Describe the functional differences of steppers, dc, and ac motors.

DC motors have continuous motion. Stepper motors give slow response. A DC motor equipped
with feedback control can give a much faster response than a stepper motor. The stepper motors
are not meant for continuous use because they tend to run hot when powered for a long duration.

2|Page
 For more detail visit to www.ESO.com

3.9 Draw a typical speed-torque plot of a dc motor.

In order to effectively design with D.C. motors, it is necessary to understand their characteristic
curves. For every motor, there is a specific Torque/Speed curve and Power curve.

3|Page
 For more detail visit to www.ESO.com

3.10 Distinguish a stable operating point from the unstable one of a dc motor.
To check the stability at an operating point of the motor, if an increase in speed brings greater
increase in load torque than the motor torque, the speed will tend to decrease and return to its
original value, so operating point will be a stable point else operating point will be an unstable
point.

3.11 When are hydraulic actuators preferred in a robot system?

The hydraulic actuators are used in robots handling heavy loads. These actuators can produce
very high force if we compared them with other actuators. These actuators are deployed where
higher speed, accuracy, and stability are required.

3.12 What fluid is used in hydraulic actuators and what is the pressure range?
Hydraulic fluid is the main source of power in a hydraulic actuator. The movement of the
actuator can be controlled by changing the amount of the hydraulic fluid inside it. During the
ancient times, people used water as a hydraulic fluid.
Pressures used in a hydraulic actuator ranges between 1,000 to 5,000 pounds per square inch
(psi). Large actuators can exceed 10,000 psi for specialized applications.

3.13 State different types of hydraulic actuators.

There are two different types of actuators in a hydraulic system: rotary actuators (or hydraulic
motors) and linear actuators (or cylinders).

3.14 What are the risks of using hydraulic actuators?

4|Page
 For more detail visit to www.ESO.com

Hydraulic fluid can leak, which leads to a loss in efficiency. This can also lead to cleanliness
issues. Require many accompanying components including a fluid reservoir, pumps, motors,
release valves, heat exchangers, and noise reduction equipment.

3.15 What is the function of direction control valve?

Directional control valves allow fluids or gases to flow into different paths from valve ports,
which provide a passageway for flow to or from other components/sources. They are one of
the most important parts of hydraulic and pneumatic systems.

3.16 List any three advantages and disadvantages of a pneumatic actuator.

• Infinite availability of the source

Air is the most important thing in the pneumatic system, and as we all know, air is available in
the world around us in unlimited quantities at all times and places.
• Easy channeled
Air is a substance that is easily passed or move from one place to another through a small pipe,
the long and winding.
• Temperature is flexible
Air can be used flexibly at various temperatures are required, through equipment designed for
specific circumstances, even in quite extreme conditions, the air was still able to work.
• Safe
The air can be loaded more safely than it is not flammable and does not short circuit occurs
(konsleting) or explode, so protection against both of these things pretty easily, unlike the
electrical system that could lead to fires konsleting.
• Clean
The air around us are tend to clean without chemicals that are harmful, and also, it can be
minimized or cleaned with some processes, so it is safe to use pneumatic systems to the
pharmaceutical industry, food and beverages and textiles.
• The transfer of power and the speed is very easy to set up
Air could move at speeds that can be adjusted from low to high or vice versa. When using a
pneumatic cylinder actuator, the piston speed can reach 3 m / s. For pneumatic motors can spins
at 30,000 rpm, while the turbine engine systems can reach 450,000 rpm.
• Can be stored

5|Page
 For more detail visit to www.ESO.com

The air can be stored through the seat tube fed excess air pressure. Moreover, it can be installed
so that the pressure boundary or the safety of the system to be safe.
• Easy utilized
Easy air either directly utilized to clean surfaces such as metal and machinery, or indirectly, ie
through pneumatic equipment to produce certain movements.

• Requires installation of air-producing equipment.

Compressed air should be well prepared to meet the requirements. Meet certain criteria, such
as dry, clean, and contain the necessary lubricant for pneumatic equipment. Therefore require
installation of pneumatic systems are relatively expensive equipment, such as compressors, air
filter, lube tube, dryer, regulators, etc.
• Easy to leak
One of the properties of pressurized air is like to always occupy the empty space and the air
pressure is maintained in hard work. Therefore we need a seal so that air does not leak. Seal
leakage can cause energy loss. Pneumatic equipment should be equipped with airtight
equipment that compressed air leaks in the system can be minimized.
• Potential noise
Pneumatic using open system, meaning that the air that has been used will be thrown out of the
system, the air comes out pretty loud and noisy so will cause noise, especially on the exhaust
tract. The fix is to put a silencer on each dump line.
• Easy condenses
Pressurized air is easily condensed, so before entering the system must be processed first in
order to meet certain requirements, such as dry, have enough pressure, and contains a small
amount of lubricant to reduce friction in the valves and actuators.

3.17 State the typical applications of pneumatic actuators.

Among the most common and popular uses are the pistons and ignition chambers in gasoline-
powered vehicles. They use ignition of the air and gasoline to create the pressurized force that
eventually moves the piston and converts energy into the car's crankshaft.

3.18 Why are pneumatic actuators preferred in factory set-up robots?

Pneumatics is economically priced, It can easily resist overheating, It can withstand wet and
moisture-ridden environments, It is simple, These types of Pneumatic actuators are inherently
explosion proof, shock proof, and sparkproof, When specific speeds are needed, additional
devices should be attached to the pneumatic system to get the desired result.

6|Page
 For more detail visit to www.ESO.com

3.19 Why is a storage tank necessary in pneumatic actuators?

It prevents too frequent loading and unloading of the compressors. In addition, it serves to
precipitate some of the moisture and possible oil carryover that may be present in the
compressed air as it comes from the compressor or that may be carried over from the after-
cooler.

3.20 Which component basically provides the mechanical motion?

The actuator is a component that functions as the joint of the robot, which allows a robot to
move the arm up and down or rotate, and it converts energy into mechanical motions.

3.21 How is a motor selected?

There are several characteristics that you need pay attention to when selecting a motor but
voltage, current, torque, and velocity (RPM) are most important. Current is what powers the
motor and too much current will damage the motor. For DC motors, operating and stall current
are important.

3.22 What is a mechanical gripper? Show a sketch to hold a cylindrical object.

A gripper comes in direct contact with your product, so it's important to choose the right type
of gripper for your operation. There are four types of robotic grippers: vacuum grippers,
pneumatic grippers, hydraulic grippers and servo-electric grippers.

7|Page
 For more detail visit to www.ESO.com

3.23 What are the limitations of friction-based grippes?

However, there are certain limitations. The most significant is the fact that the adhesive cannot
readily be disabled in order to release the grasp on an object. Some other means, such as devices
that lock the gripped object into place,must be used.

3.24 State one example for the use of a hook.

So, here's an example: Before I begin to tell you this story, I want to let you know it going to
be most awesome, interesting story you have ever read. The use of a narrative hook does not
need to be specifically for story writing.

3.25 What is the main drawback of using adhesive gripper?

However, there are certain limitations. The most significant is the fact that the adhesive cannot
readily be disabled in order to release the grasp on an object. Some other means, such as devices
that lock the gripped object into place,must be used.

WEB-BASED EXERCISES
Based on Web search, find the answers to the following questions:

3.26 Find at least three manufacturers of dc and ac electric motors. What are their prices?
3.27 What is a typical value of the dc motor constant?
3.28 Find out if there is any software that can provide motor specifi cations based on the load
and speed requirement of a robot. Name it.
3.29 Find out two companies who make direct-drive motors.
3.30 Name three companies who make both pneumatic and hydraulic actuators. What are the
prices for these actuators?

8|Page