1. Actuators in RobotsActuators in Robots

2. (1)Hydraulic Actuators
(2)Pneumatic Actuators
(3) Electrical Actuators
(4) Micro Actuators
(1)Hydraulic Actuators
(2)Pneumatic Actuators
(3) Electrical Actuators
(4) Micro Actuators

3.  As the name suggest these actuators can
use pressurized fluids normally oil at different
flow rates to obtain desired force at a
particular speed.
Hydraulic systems operates in the pressure
range of 60 bar to 200 bar
 As the name suggest these actuators can
use pressurized fluids normally oil at different
flow rates to obtain desired force at a
particular speed.
Hydraulic systems operates in the pressure
range of 60 bar to 200 bar

4.  Cylinders (single acting and double acting)
Special cylinders like telescopic cylinders.
Hydraulic motors
Vane pump
Gear pump
 Cylinders (single acting and double acting)
Special cylinders like telescopic cylinders.
Hydraulic motors
Vane pump
Gear pump

7. Gear
motor

8. Types of

14.  High load carrying capacity
Low actuator inertia
Simplified design of system.
High flexibility
High speed at high load
 High load carrying capacity
Low actuator inertia
Simplified design of system.
High flexibility
High speed at high load

15.  High cost.
Leakage .
Effect of oil temperature on performance.
Some times compactness is a “issue”.
 Resolution is less.
 High cost.
Leakage .
Effect of oil temperature on performance.
Some times compactness is a “issue”.
 Resolution is less.

16.  compressed air is readily available in factories.
Compressed air can be stored and conveyed to
long distance.
Compressed air need be returned to sump.
Operation is fast.
Less costly than hydraulic system.
Pneumatic elements are simple and reliable.
 compressed air is readily available in factories.
Compressed air can be stored and conveyed to
long distance.
Compressed air need be returned to sump.
Operation is fast.
Less costly than hydraulic system.
Pneumatic elements are simple and reliable.

17.  Motors(AC/DC).
Servo Motors (AC/DC).
Relays and solenoids.
Linear motors and linear servo motors.
 Motors(AC/DC).
Servo Motors (AC/DC).
Relays and solenoids.
Linear motors and linear servo motors.

35. High performance control can be achieved at
low cost.
Wide range of motor sizes and capacity are
available.
Accuracy ,reputability of electric drives are
excellent.
Electric actuators are always compact .
Can be customized easily.
High performance control can be achieved at
low cost.
Wide range of motor sizes and capacity are
available.
Accuracy ,reputability of electric drives are
excellent.
Electric actuators are always compact .
Can be customized easily.

36. Limited choice of gear box.
 provide Less power as compared to hydraulic
actuator.
Motor and gear box inertia may be high.
Backlash of drive gears may introduce error in
movement.
Sometimes costly circuit system is needed.
Limited choice of gear box.
 provide Less power as compared to hydraulic
actuator.
Motor and gear box inertia may be high.
Backlash of drive gears may introduce error in
movement.
Sometimes costly circuit system is needed.

37. Concept Pneumatic Oil Hydraulics Electrical
Prime mover Compressor Pump Electric motor
Medium Compressed air Hydraulic oil Electricity
Storage Reservoir for
compressed air
Reservoir of oil No storage ,except
batteries.
Magnitude of
Energy
Up tp 12 bar 60-200 bar avg
400 bar max
up to thousands of
KW

38. Concept Pneumatic Oil Hydraulics Electrical
Transmission By way of tubing By Way of piping By way of cables
and wires.
Transportation
over distance
Easy Difficult Easy
Cost of Energy High compared to
Electrical energy,
but low compared
to hydraulic
High when
compared to
Electrical energy
and pneumatic
Low
Environment
/temperature
/humidity
Not sensitive to
environment and
temp.
Sensitive Not sensitive,
except use of
semiconductor
devices

39. Concept Pneumatic Oil Hydraulics Electrical
Contamination Less compared to
hydraulics
More Vey Less, except
that of insulation
Mechanical
Motion:
Linear/Rotary
Both linear and
rotary can be
achieved
Both linear and
rotary can be
achieved
Easy to achieve
rotary motion,
difficult to
achieve linear
Power to weight
ratio
Low Very low better
Compactness Moderate Low Can be highly
compact