Chapter 5 Actuators

Actuators
HYDRAULIC AND PNEUMATIC

Hydraulic Actuator : Principles
 A Hydraulic Pump is used to

convert mechanical power into fluid
power.
 An Actuator is used to convert the
fluid power back into mechanical
energy, thus doing some work.
 Common Actuator involve Hydraulic
Cylinder and Hydraulic Motor.
Hydraulic Actuator : Characterization
Actuator
Cylinder (Linear Actuator) Motor (Rotary Actuator)

Hydraulic Cylinder : External View
Hydraulic Cylinder : Cutaway View
Hydraulic Cylinder : Characterization
Hydraulic Cylinder
Single Acting Cylinder Double Acting Cylinder
 A single acting cylinder is only  A double acting cylinder is powered

powered in one direction in both direction.
 It needs another force to return it  In the case of double-acting cylinders,
such as an external load (e.g. in a car both piston surfaces can be
hoist or jack) or a spring. pressurized.
 No hydraulic fluid is present on the  Therefore, it is possible to perform a
low pressure side. working movement in both directions.
Spring Return Single Acting Cylinder
 To extend the cylinder or to push

the load, pump flow and pressure
are sent to the pressure port.
 When pressure is released, the

spring automatically returns the
cylinder to the fully retracted
position.
Gravity Return Single Acting Cylinder
 The gravity return Single Acting

Cylinder acts under pressure in one
direction, and return automatically
when there is no pressure.
 For the Push type, during extension or
pushing the load, the cylinder extends
to lift the load against the gravity by
applying pump flow and pressure at the
pressure port.
 In Pull Type, the cylinder retract the
load when the pump flow and pressure
is applied at the pressure port.
Gravity Return Single Acting Cylinder : In Circuit
Hydraulic Cylinder : In Application
Hydraulic Cylinder : Double Acting Cylinder
 A double acting cylinder is

powered in both direction.
 In the case of double-
acting cylinders, both
piston surfaces can be
pressurized.
 Pressure Port and Vent
port can be change during
extending or retracting.
Double Acting Cylinder : In Circuit
Cushioning
Cushion cylinder
Normal cylinder
Cylinder cushions will slow the piston down near the ends of the stroke. This prevents
excessive impact when the piston is stopped by the end caps, as shown above. Deceleration
start when the plunger enters the opening in the cap. This restricts the exhaust flow from
the barrel to the port.
Hydraulic Double ActingCylinder : In Action
Cylinder cushion
Double Acting Cylinder : Other type
Double Acting Cylinder : Other type
Hydraulic Cylinder : Telescopic
Hydraulic Cylinder : Symbols
Hydraulic Cylinder : Symbols
Hydraulic Cylinder : Mounting
Hydraulic Cylinder : Extending
AP
vE
p AR
FE
Where :
Ap = Piston cross section area (m2) Q = Volume flow rate (m3/s)
AR= Rod cross section area (m2) vE= extend rod velocity (m/s)
FE= Extend force (N) p = pressure from pump (N/m2)
FE = p x Ap
Hydraulic Cylinder : Retracting
p vR
AP AR
FR
Where :
Ap = Piston cross section are (m2) Q = Volume flow rate (m3/s)
AR= Rod cross section area (m2) vR= Retract rod velocity (m/s)
FR= Retract force (N) p = pressure from pump (N/m2)
FR = p x (AP-AR)
Cylinder Force : Examples
Cylinder Force : Answers
Cylinder Velocity : Examples
Cylinder Velocity : Answers
Note :1l = 1000 cm2 = 1X 10-3 m3

Cylinder Delivery: Examples
Cylinder Delivery: Answers
Q
v and v1  v2
A
Hydraulic Motor : Introduction
The purpose of a rotary motor is to convert fluid power into shaft power by
forcing the shaft to rotate.
Pressure is converted into torque and flow rate is converted into speed.
In other words, the faster you push the fluid through the motor, the faster it goes
and the harder it is to turn the shaft, the higher the pressure needed to make it go
round.
Hydraulic Motor : Introduction
 Frequently used in both industrial and mobile

application.
 Industrial Application as: Driving conveyor,
winches, machine tool positioning.
 Mobile Application: Rotating Drum,
harvesting mechanism,
 Advantages over electrical and mechanical
motor:
1. Respond quickly to speed and direction
changes.
2. Can be stalled under full load without
damage the system.
 In Vehicle Propulsion systems, there are
known as Hydrostatic Transmission.
 Two main type:
1. Standard high speed models.
2. Low Speed High Torque. (LSHT)
Hydraulic/Pneumatic Motor : Symbols
Hydraulic Pneumatic
Fixed Displacements,
Uni-Directional
Fixed Displacements,
Bi-Directional
Variable Displacements, Bi-

Directional
Limited rotation, Bi Directional

Hydraulic Motor : In Circuit
Output
Control
Power
Supply
Hydraulic Cylinder : Classification
“Hydraulics Motor”
Piston Gear Vane

Motor Motor Motor
 Hydraulic motor are classified according to the type of internal elements that are
directly actuated by the flow of fluid.
 They are very similar in construction to hydraulic pumps. In fact many pumps may be
used as motors without any modification.
 Like hydraulic pumps most hydraulic motors are classified as gear, vane or piston.
Hydraulic Motor : Piston Motor.
Radial Piston
Motor
Axial Piston
Motor
 Most efficient of the three basic types. 1 Pa = 0.000145 psi

 Lowest dirt tolerant.
 Capable operating at the highest speed and pressures.
 Operating speed of 12,000 rpm and pressure of 5000 psi can be obtained with piston motor.
 Large piston motors are capable of delivering flows up to 450 gpm.
Hydraulic Motor : Gear Motor.
 Less efficient motor.

 Its simple design and subsequent low cost
 Most dirt tolerant.
 Lowest Pressure rating from other motors.
 Normally limited to 2000 psi operating pressures and 2400 rpm operating speed.
 Maximum flow delivery is 150 gpm
Hydraulic Motor : Vane Motor.
 Moderate efficient motor.

 Moderate dirt tolerant.
 Moderate Pressure rating from other motors.
 Available to operate at pressure up to 2500 psi and at speeds up to 4000 rpm
 Maximum flow delivery is 250 gpm
Partial Rotary Actuator
Partial rotary actuator

rotate to the left or
right, with less than a
360 degrees turn
RACK AND PINION TYPE
PARALLEL PISTON TYPE SEMI - ROTARY PISTON TYPE

Review : The Relation of Efficiency , Power, Delivery and Torque of A Pump
o
Pump Input Power

m v
P = 2NTA Hydraulic Pump
Pump Output Power
P = 2NTT = QT x p
P = p x QA
Or
Electric Motor Power

P = 2NTM
Transmitted Power is Shrinking!!!!

The Relation of Efficiency , Power, Delivery and Torque of A Motor
o
v m
Hydraulic Motor
Pump Output Power Motor Output Power
P = p x QA P = QT x p = 2NTT
P = p x QA
Transmitted Power is Shrinking even more!!!!

T Q QT TA
m  T v  A v  m 
TA QT QA TT
Pump Motor
END OF CHAPTER 5
THANK YOU…..

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Actuators

HYDRAULIC AND PNEUMATIC

 A Hydraulic Pump is used to

Cylinder (Linear Actuator) Motor (Rotary Actuator)

Single Acting Cylinder Double Acting Cylinder

 A single acting cylinder is only  A double acting cylinder is powered

 To extend the cylinder or to push

 When pressure is released, the

 The gravity return Single Acting

 A double acting cylinder is

Note :1l = 1000 cm2 = 1X 10-3 m3

 Frequently used in both industrial and mobile

Variable Displacements, Bi-

Limited rotation, Bi Directional

Piston Gear Vane

 Most efficient of the three basic types. 1 Pa = 0.000145 psi

 Less efficient motor.

 Moderate efficient motor.

Partial rotary actuator

RACK AND PINION TYPE

PARALLEL PISTON TYPE SEMI - ROTARY PISTON TYPE

Pump Input Power

Electric Motor Power

Transmitted Power is Shrinking!!!!

Transmitted Power is Shrinking even more!!!!

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