13.

702 MECHATRONICS
MODULE - II

Prepared by:
KARTHIK R N
Assistant Professor
Department of ME
ACE COLLEGE OF ENGINEERING
 SYLLABUS
Module – II

Actuators: Hydraulic and Pneumatic actuators - Directional control valves,

pressure control valves, process control valves. Rotary actuators. Development
of simple hydraulic and pneumatic circuits using standard Symbols.

Micro Electro Mechanical Systems (MEMS): Fabrication: Deposition,

Lithography;
Micromachining methods for MEMS, Deep Reactive Ion Etching (DRIE) and
LIGA processes.
Principle, fabrication and working of MEMS based pressure sensor, accelerometer
and gyroscope.
 ACTUATION SYSTEMS
• Actuation systems are the elements of control systems which are responsible for
transforming the output of a microprocessor or control system into a controlling action
on a machine or device.

• Actuators are hardware devices that convert a controller command signal into a change
in a physical parameter. The change is usually mechanical (e.g., position or velocity).

• An actuator is also a transducer because it changes one type of physical quantity into
some alternative form. An actuator is usually activated by a low-level command
signal, so an amplifier may be required to provide sufficient power to drive the
actuators.

• Various types of actuation systems are:

Pneumatic system
Hydraulic system
Mechanical systems
Electric drives
 PNEUMATIC SYSTEMS
• In pneumatic system force is pressurized by gas. It is mainly by air pressure acting
on the surface of a piston or valve.
• Pneumatic signals are often used to control elements even if the control system is
electrical, since these signals can actuate large valves and other high power control
device and accordingly move large loads.
• The fresh atmosphere air is not sent directly to the compressor to use in
pneumatic systems. First it is filtered by filters. Then air is supplied to the
compressor through Silencer to reduce noise level. Then it is compressed.

• Pressure relief valve is used to avoid damage of compressor due to excess

pressure raise in the system.

• Check valve is a one-way valve that allows pressurized air to enter the
pneumatic system but avoids backflow.

• Directional control valves are used to control flow of pressurized air from the
source to the selected port. These valves can be actuated either manually or
electrically.

• The cooler is used to cool the compressed air which is usually very hot.

• The filter is used to remove contamination in the compressed air and water trap
is used to remove water particles.
• The pressurized air is stored in a device called an air receiver, preventing surges in
pressure and relieving the duty cycle of the compressor.

• Actuator converts energy stored in the compressed air into mechanical motion.

CLASSIFICATION OF PNEUMATIC VALVES

 Directional: Determine the passage and the flow of the air current by means of
appropriate moving parts contained in them actuated from the outside.

 On-Off: Unidirectional valves. Only allow air to move in one direction. Also
known as non-return or check valves.

 Pressure Regulator: Relief and pressure limiter are the two kinds of pressure
regulators.
 HYDRAULIC SYSTEMS
• Hydraulic systems, uses force which is applied at one point and transmitted to
another point using an incompressible fluid, plant equipment & machinery etc.
The necessary components are:
Hydraulic pump unit
Control valves
Reciprocating or rotary units
• Hydraulic pump : A pump is a device in which mechanical energy is converted
into fluid energy . The pump is connected with the reservoir called fluid tank .
• Control valves : The flow of pressurized fluid by a pump is controlled by the
following valves such as:
• Pressure relief valves control the fluid pressure
• Non-return valve controls the back flow of fluid `
• Directional control valves control the direction of fluids
• Hydraulic actuator or cylinder :
• The actuatoris the element which converts hydraulic power into
mechanical power. The pressurized fluid by the pump is supplied to either
rotary pump or hydraulic cylinder on the type of motion embedded.
• The fluid stored in the tank is send to the filter to remove dust and foreign
particles. After the fluid is filtered , it is sucked by the pump which is driven
by a motor. During pumping, the pressure of fluid will increase and it is
released with high pressure to the accumulators through non-return valve.
One pressure relief valve is connected at the exit to control the delivery
pressure of fluid. The fluid with high pressure is supplied to the hydraulic
cylinder through directional control valve.
• Accumulator:
 It is a hydraulic device that stores the pressure energy of liquid (oil, water, etc.)
by converting it into pressure energy of gas(nitrogen gas).

 They are used in fluid power systems to accumulate energy and to smooth out
pulsations. A hydraulic system utilizing an accumulator can use a smaller fluid
pump since the accumulator stores energy from the pump during low demand
periods. This energy is available for instantaneous use, released upon demand at
a rate many times greater than could be supplied by the pump alone.

 An accumulator is used for various function such as;

1. Reserve energy 2. Store fluid
3. Emergency operate 4. Force compensating
5. Damp mechanical shocks 6. Absorb pressure oscillations
7. Compensate leakage losses 8. Springs in vehicles .
9. Recover of braking energy 10. Stabilize pressure
11. Compensate volumetric flow rate
Bladder Type Piston Type
• The bladder type accumulator contains an elastic barrier between the oil and gas.
The bladder is fitted to the accumulator by means of a vulcanized gas-valve
element that can be installed or removed through the shell opening at the poppet
valve . The poppet valve closes the inlet when the bladder is fully expanded. This
prevents the bladder from being pressed into the opening. A shock-absorbing
device protects the valve against accidental shocks, during a quick opening.

• The greatest advantage with these accumulators is positive sealing between the
gas and oil chambers. The weight bladder provides a quick pressure response for
pressure regulation as well as applications involving pump pulsations and shock
damping.

• The hydraulic pump delivers oil to the accumulator and deforms the bladder. As
the pressure increases, the volume of gas decreases . This results in the storing of
hydraulic energy. Whenever additional oil is required by the system, it is supplied
by the accumulator even as the pressure in the system drops by a corresponding
amount.
COMPARISON BETWEEN HYDRAULIC
AND PNEUMATIC SYSTEM
S No. HYDRAULIC SYSTEM PNEUMATIC SYSTEM
It employs a pressurized liquid as a fluid . It employs a compressed gas, usually
1
air, as a fluid.
An oil hydraulic system operates at A pneumatic system usually operates
2
pressures up to 700 bar . at 5–10 bar.
3 Generally designed as closed system. Usually designed as open system.
The system slows down when leakage
4 Leakage does not affect the system.
occurs.
5 Valve operations are difficult. Valve operations are easier.
6 Heavier in weight. Lighter in weight.
Pumps are used to provide pressurized Compressors are used to provide
7
liquids. compressed gases
8 The system is unsafe to fire hazards. The system is free from fire hazards.
Special arrangements for lubrication
9 Automatic lubrication is provided.
are needed.
 I. DIRECTION CONTROL VALVE
• Directional control valves are used to control the distribution of energy in a fluid
power system. They provide the direction to the fluid and allow the flow in a
particular direction.

• These valves are used to control the start, stop and change in direction of the fluid
flow and flow rate of fluid (for controlling speed of actuator).

• These control valves contain ports that are external openings for the fluid to enter
and leave.

• The number of ports is usually identified by the term ‘way’. For example, a valve
with four ports is named as four-way valve.
Directional control valves can be classified in the following manner:

1. Type of construction:
Check valves Spool valve

2. Number of ports:
Two- way valves Three – way valves Four- way valves.

3. Number of switching position:

Two – position Three – position

4. Actuating mechanism:
Manual actuation Mechanical actuation Solenoid actuation
Hydraulic actuation Pneumatic actuation Indirect actuation
 TYPE OF CONSTRUCTION
i. CHECK VALVES

a. BALL CHECK VALVES

• These are unidirectional valves and permit the free flow in one direction only.
These valves have two ports: one for the entry of fluid and the other for the
discharge. They are consists of a housing bore in which ball is held by a small
spring force. The valve having ball as a closing member is known as ball check
valve.

• These valves are generally small sized, simple in construction, inexpensive and are
automatically operated.
• The simplest check valve is an inline check valve
as shown.
• The ball is held against the valve seat by a spring
force. It can be observed from the figure that the
fluid flow is not possible from the spring side but
the fluid from opposite side can pass by lifting
the ball against.
• However, there is some pressure drop across the
valve due to restriction by the spring force.
Therefore these valves are not suitable for the
application of high flow rate.

• Sometimes, the right angle check valve as shown

is used for the high flow rate applications. The
pressure drop is comparatively less in right angle
check valve.
b. POPPET CHECK VALVES

• When the closing member is not a ball but a

poppet energized by a spring is known as
poppet valve.
• Some valves are meant for an application
where free flow is required in one direction
and restricted flow required in another
direction.
• These types of valves are called as
restriction check valve.
• These valves are used when a direction
sensitive flow rate is required. For example,
the different actuator speeds are required in
both the directions. The flow adjustment
screw can be used to set the discharge (flow
rate) in the restricted direction.
• Another important type of check valve known as pilot operated poppet valve.
• The function of the pilot operated poppet valve is similar to a normal check valve
unless it gets an extra pressure signal through a pilot line.
• Pilot allows free flow in one direction and prevents the flow in another direction
until the pilot pressure is applied.
• But when pilot pressure acts, the poppet opens and the flow is blocked from both
the sides, these valves are used to stop the fluid suddenly.
 ii. SHUTTLE/SPOOL VALVES

• The spool valves derive their name from their appearance.

• It consists of a shaft sliding in a bore which has large groove around the
circumference, which makes it look like a spool. The spool is sealed along the
clearance between moving spool and housing (valve body).

• The quality of seal or the amount of leakage depends on the amount of clearance,
viscosity of fluid and the level of the pressure.

• The grooves guide the fluid flow by interconnecting or blocking the holes
(ports).
• The spool valves are categorized according to the number of operating positions
and the way hydraulic lines interconnections.
The standard terms are referred as Port ‘P’ is pressure port, Port ‘T’ is tank port and
Port ‘A’ and Port ‘B’ are the actuator (or working) ports. The actuators can move in
forward or backward direction depending on the connectivity of the pressure and
tank port with the actuators port.
 NUMBER OF PORTS
i. Two way valves (Refer previous slide for figure)

• Two way valves have only two ports.

• These valves are also known as on-off valves because they allow the fluid flow
only in direction.

• These valves are available as normally open and normally closed function.

• These are the simplest type of spool valves. When actuating force is not applied
to the right, the port P is not connected with port A as shown, therefore the
actuation does not take place.

• Similarly, second figure shows the two-way spool valve in the open condition.
Here, the pressure port P is connected with the actuator port A.
ii. THREE WAY VALVES
• When a valve has one pressure port, one tank port and one actuating port, it is
known as three way valve.
• In this valve, the pressure port pressurizes one port and exhausts another one.
And only one actuator port is opened at a time.
• In some cases a neutral position is also available when both the ports are
blocked. Generally, these valves are used to operate single acting cylinders.
iii. FOUR WAY VALVES
• It is generally used to operate the cylinders and fluid motors in both the
directions.
• The four ways are: pump port P, tank port T, and two working ports A and B
connected to the actuator.
• The primary function of a four way valve is to pressurize and exhaust two
working ports A and B alternatively.
 NUMBER or WAYS OF SWITCHIHG
POSITIONS
i. TWO POSITION - FOUR WAY VALVES[2/4 VALVES]
• The two position four way valves have only two switching positions and do not
have any mid position. Therefore, they are also known as impulse valves.

• The 2/4 valves can be used to operate double acting cylinders. These are also
used to reciprocate or hold an actuator.

• The operation is faster because the distance between ports of these valves is
smaller. Hence, these valves are used on machines where fast reciprocation
cycles are needed such as punching and stamping .
ii. THREE POSITION - FOUR WAY [3/4] VALVES
• Three position four way (3/4) valves are used in double-acting cylinders to
perform advance, hold and return operation to the piston.
• These types of valves have three switching positions.
• Thave a variety of possible flow path configurations but have identical flow path
configuration.
• The three position valves are used when the actuator is needed to stop or hold at
some intermediate position.
• It can also be used when the multiple circuits or functions are accomplished from
one hydraulic power source.

a. When the centered path is actuated, port A and B are connected with both the
ports P and T respectively. In this case, valve is not active because all the ports
are open to each other. The fluid flows to the tank at atmospheric pressure.
• In this position work cannot be done by any part of the system. This
configuration helps to prevent heat build-up.

b. When right end (port B) is actuated, the port P is connected with ports B and T
is connected with port A as shown above.

c. When the left end is actuated the port P is connected to A and working port B is
connected to port T as shown below.
d. In a tandem centre three position four way direction control valve, the
working ports A and B are blocked and the pump port P is connected to the tank
port T.
• Tandem centre results in the locked actuator. However, pump to tank flow takes
place at the atmospheric temperature. This kind of configuration can be used
when the load is needed to hold.

e. The regenerative centre is another important type of common centre

configuration in which the flow is generated from the system itself.
• Regenerative centre is used when the actuator movement in one direction
requires two different speeds. For example, the half-length of the stroke requires
fast movement during no-load condition and remaining half-length requires slow
motion during load conditions.
• The regenerative centre saves the pump power.

f. In floating centre configuration, the pump port is blocked and both the working
ports A and B are connected to the tank port T.
• ie, the working ports A and B can be moved freely which is reason they are
called as floating centre. The pumped fluid passes through the relief valve.
Therefore, pump works in the high pressure condition.
 II. PRESSURE RELIEF VALVES
• The pressure relief valves are used to protect the hydraulic components from
excessive pressure.

• Its primary function is to limit the system pressure within a specified range.

• It is normally a closed type and it opens when the pressure exceeds a

specified maximum value by diverting pump flow back to the tank.

• Various types of pressure control valves are discussed in the following sections:
a. DIRECT TYPE OF RELIEF VALVE

• This type of valves has two ports; one of

which is connected to the pump and
another is connected to the tank.
• It consists of a spring chamber where poppet
is placed with a spring force. Generally, the
spring is adjustable to set the maximum
pressure limit of the system.
• The poppet is held in position by combined
effect of spring force and dead weight of
spool. As the pressure exceeds this combined
force, the poppet raises and excess fluid
bypassed to the reservoir (tank). The poppet
again reseats as the pressure drops below the
pre-set value.
• A drain is also provided in the control
chamber, which sends the fluid collected due to
small leakage to the tank and thereby prevents
the failure of the valve.
b. PRESSURE SEQUENCE VALVE
• The primary function of this type of valve is to divert flow in a predetermined
sequence which assists in automatic operation.
• A sequence valve may be of direct-pilot or remote-pilot operated type.
• It consists of the two ports; one main port connecting the main pressure line and
another port (secondary port) is connected to the secondary circuit.
• The secondary port is usually closed by
the spool. The pressure on the spool
works against the spring force.
• When the pressure exceeds the preset
value of the spring; the spool lifts and the
fluid flows from the primary port to the
secondary port.
• For remote operation; the passage used for
the direct operation is closed and a
separate pressure source for the spool
operation is provided.
c. COUNTER BALANCE VALVE
• It is used to maintain the back pressure and to prevent a load from failing.
• The counterbalance valves can be used as breaking valves for decelerating heavy
loads.
• These valves are used in vertical presses, lift trucks, loaders and other machine tools
where position or hold suspended loads are important.
• Counterbalance valves work on the
principle that the fluid is trapped under
pressure until pilot pressure overcomes
the pre-set value of spring force. Fluid is
then allowed to escape, letting the load to
descend under control.
• This valve is normally closed until it is
acted upon by a remote pilot pressure
source. Therefore, a lower spring force is
sufficient.
• It leads to the valve operation at the lower
pilot pressure and hence the power
consumption reduces, pump life increases
and the fluid temperature decreases.
d. PRESSURE REDUCING ( LIMITING) VALVE
• Sometimes a part of the system may need a lower pressure, which is made possible
by using pressure reducing valve.
• These valves are used to limit the outlet pressure.
• Generally, they are used for the operation of branch circuits where the pressure may
vary from the main hydraulic pressure lines.
• They are open type valve and have a spring chamber with an adjustable spring and a
movable spool.
• A drain is provided to return the leaked fluid in the spring (control) chamber. A free
flow passage is provided from inlet port to the outlet port until a signal from the
outlet port tends to throttle the passage through the valve.
• The pilot pressure opposes the spring force and when both are balanced, the
downstream is controlled at the pressure setting.
• When the pressure in the reduced pressure line exceeds the valve setting, the spool
moves to reduce the flow passage area by compressing the spring.
• It can be seen that if the spring force is more, the valve opens wider and if the
controlled pressure has greater force, the valves moves towards the spring and
throttles the flow
III. FLOW (PROCESS) CONTROL VALVES
• In practice, the speed of actuator is very important in terms
of the desired output and needs to be controlled.
• The speed of actuator can be controlled by regulating the
fluid flow using a flow control valve.
• The fluid flow is controlled by varying area of the valve
opening through which fluid passes. The fluid flow can be
decreased by reducing the area of the valve opening and it
can be increased by increasing the area of the valve
opening.
• A very common example to the fluid flow control valve is
the household tap.
• In a flow control valve (fig.), the pressure adjustment screw
varies the fluid flow area in the pipe to control the
discharge rate
• In a hydraulic circuit, the inlet pressure remains almost constant but the outlet
pressure keeps on fluctuating depending on the external load, which creates
fluctuating pressure drop.
• This necessitates the requirement of a pressure compensated flow control valve
using the movement of a spool, which shifts its position depending on the
pressure.

• Flow control valves can also be affected by temperature changes due to change
in viscosity of the fluid changes with temperature. Therefore, the advanced flow
control valves may often have the temperature compensation.
• The temperature compensation is achieved by the thermal expansion of a rod,
which compensates for the decrease in viscosity with temperature.

• Different types of flow control valves are listed below:

a. PLUG or GLOVE VALVE
• The valve has a plug which can be adjusted in vertical direction by setting flow
adjustment screw.
• The adjustment of plug alters the orifice size between plug and valve seat, thus the
adjustment of plug controls the fluid flow in the pipeline.

• The typical example of plug valve is

stopcock that is used in laboratory
glassware.
• The valve body is made of glass or teflon.
The plug can be made of plastic or glass.
Special glass stopcocks are made for
vacuum applications.
• Stopcock grease is used in high vacuum
applications to make the stopcock air-
tight.
b. BUTTERFLY VALVE
• It consists of a disc which can rotate inside the pipe, the angle of disc determines the
restriction.
• Butterfly valve can be made to any size and is widely used to control the flow of gas
and at varying pressure conditions.
• The butterfly valve uses the flexibility of
rubber and has the lowest pressure rating.
• For high-pressure systems, the triple
offset butterfly valve is suitable which
makes use of a metal seat and is therefore
able to withstand high pressure.
• It has higher risk of leakage on the shut-
off position and suffer from the dynamic
torque effect.
• The disc is always present in the flow
therefore a pressure drop is induced
regardless of the valve position.
• Butterfly valves are still favoured because
of their lower cost and lighter weight.
c. BALL VALVE
• This type of flow control valve uses a ball rotated inside a machined seat.
• The ball has a through hole as shown.
• It has very less leakage in its shut-off condition.
• They are easy to repair and operate.
• They are durable and usually work perfectly for many years.
• They are excellent choice for shutoff applications.
• They do not offer fine control which may be necessary in throttling applications.
• These valves are widely used in industries because of their versatility, high
supporting pressures (up to 1000 bar) and temperatures (up to 250°C).
d. BALANCED VALVE
• It comprises of two plugs and two seats.
• The opposite flow gives little dynamic reaction onto the actuator shaft, which
results in the negligible dynamic torque effect.
• However, the leakage is more in these kind of valves because the manufacturing
tolerance can cause one plug to seat before the other.
• The pressure-balanced valves are used in the houses, where they provide water at
nearly constant temperature to a shower or bathtub despite of pressure fluctuations
in either the hot or cold supply lines.
 ACTUATORS
• Actuators are output devices which convert energy from pressurized hydraulic oil
or compressed air into the required type of action or motion.
• Hydraulic or pneumatic systems are used for gripping and/or moving operations in
industry, which are carried out by using actuators.

• Actuators can be classified into three types.

1. Linear Actuators: These devices convert hydraulic/pneumatic energy into linear
motion.

2. Semi – Rotary Actuators: These devices convert hydraulic/pneumatic energy into

rotary motions less than 360o.

2. Rotary Actuators: These devices convert hydraulic/pneumatic energy into rotary

motion greater than 360o.

3. Actuators which operate flow control valves: These are used to control the flow
and pressure of fluids such as gases, steam or liquid – DCV, PCV
 LINEAR ACTUATORS
I. CYLINDER
a. Single-Acting Cylinders

• It consists of a piston inside a cylindrical housing called barrel.

• On one end of the piston there is a rod, which can reciprocate. At the opposite
end, there is a port for the entrance and exit of oil.
• Single-acting cylinders produce force in one direction by hydraulic pressure
acting on the piston.
• The return of the piston is not done hydraulically, rather done either by gravity
or by a spring.
• According to the type of return, single-acting cylinders are classified as:
Gravity-return single-acting cylinder.
Spring-return single-acting cylinder.
b. Double-Acting Cylinder
• There are two types of double-acting cylinders
Double-acting cylinder with a piston rod on one side.
Double-acting cylinder with a piston rod on both sides.

Double-Acting Cylinder with a Piston Rod on One Side

• To extend the cylinder, the pump flow is sent to the blank-end port and the fluid
from the rod-end port returns to the reservoir.
• To retract the cylinder, the pump flow is sent to the rod-end port and the fluid
from the blank-end port returns to the tank.
Double-Acting Cylinder with a Piston Rod on Both Sides
• A double-acting cylinder with a piston rod on both sides is a cylinder with a rod
extending from both ends.
• This cylinder can be used in an application where work can be done by both
ends of the cylinder, thereby making the cylinder more productive.
• Double-rod cylinders can withstand higher side loads because they have an
extra bearing, one on each rod, to withstand the loading.
• A linear cylinder with suitable mechanical linkages can be used to produce
rotary movement through angles less than 360o .

II. CAMS
• A cam is a rotating or sliding piece in a mechanical linkage used especially in
transforming rotary motion into linear motion or vice versa
 III. RACK AND PINION
• A rack and pinion is a type of linear actuator that
comprises a pair of gears which convert rotational motion
into linear motion or linear to rotation motion.
• A circular gear called "the pinion" engages teeth on a
linear "gear" bar called "the rack"; rotational motion
applied to the pinion causes the rack to move relative to
the pinion, thereby translating the rotational motion of the
pinion into linear motion. It is also a limited rotation
actuator.

IV. GEAR TRAINS

• A gear train is a mechanical system formed by mounting
gears on a frame so that the teeth of the gears engage.
• Gear teeth are designed to ensure the pitch circles of
engaging gears roll on each other without slipping,
providing a smooth transmission of rotation from one gear
to the next.
 V. RATCHET AND PAWL
• A ratchet is a mechanical device that allows
continuous linear or rotary motion in only
one direction while preventing motion in the
opposite direction.
• Pawl controls its rotation in one direction.

VI. BELT & CHAIN DRIVE

• Chain drive is a way of transmitting
mechanical power from one place to another.
• It is often used to convey power to the
wheels of a vehicle, particularly bicycles and
motorcycles.

• A belt is a loop of flexible material used to

link two or more rotating shafts
mechanically, most often parallel.
 ROTARY ACTUATOR
• Rotary actuators convert energy of pressurized fluid into rotary motion.
• Rotary actuators are similar to electric motors but are run on hydraulic or
pneumatic power.

I. GEAR PUMP
• It consists of two inter meshing gears
inside a housing with one gear attached
to the drive shaft.
• The air enters from the inlet, causes the
rotation of the meshing gear due to
difference in the pressure and produces
the torque,then exists from the exhaust
port.
• Gear motors tend to leak at low speed,
hence are generally used for medium
speed applications.
I. VANE MOTOR
• A rotary vane motor consists of a rotor with sliding vanes in the slots provided on
the rotor.
• The rotor is placed eccentrically with the housing.
• Air enters from the inlet port, rotates the rotor and thus torque is produced.
• Air is then released from the exhaust port (outlet).
 LIMITED ROTATION (SEMI ROTARY)
ACTUATORS
• It is used for double acting operation and has a maximum angle of rotation of
about 270°.
• These are generally used to actuate dampers in robotics and material handling
applications.
 GRAPHICAL REPRESENTATION OF
ELEMENTS
• Symbols are described in various
documents like BS2917, ISO5599, ANSI
symbols etc.

• The symbol used to represent an

individual element display the following
characteristics / functions:
->Actuation and return actuation methods
-> Number of connections
-> Number of switching positions
-> General operating principle
->Simplified representation of the flow
path
Simple hydraulic circuit for obtaining
same speeds in a double Acting Cylinder
Design a hydraulic circuit and the electrical logic to drive a hydraulic press.
Draw the hydraulic circuit and the electrical diagram for a hydraulic ram. The piston
is to be extended when a manual switch is closed. The piston should return back
when the switch is released. Use a single-acting cylinder and a 3/2 valve.
HYDRAULIC SHAPER CIRCUIT
 HYDRAULIC TABLE FEED
MECHSNISM IN MILLING
MACHINE

HYDRAULIC
SERVO
COPYING
MECHANISM