Actuators

The muscles of Robots

Electric Motors
Magnetostrictive
Actuators

Hydraulic
Actuators

Electroactive Polymer
Actuators
Shape Memory
Metal Actuators

Pneumatic
Actuators

Actuators
Characteristics

Weight, Power-to-Weight
pressure
Stiffness vs. Complience
Use of Reduction gears

ratio,

Operating

Electric Motors

Servo motors
DC Motors
Reversible
motors
Brushless
motors
Stepper motors
Unipolar
Bipolar
Bifilar

AC
DC

Electric Motors
Control

Microprocessor control of electric

motors
Pulse Width Modulation
Direction Control of DC motors with
an H-Bridge

Hydraulic
Actuators

Hydraulic Actuators

Hydraulic Actuators

Hydraulic Actuators
Block diagram

Set
Point

+
-

Output
Position

Error

Hydraulic Valve

Cylinder + Load

Feedback lever

Pneumatic
Actuators

Shape Memory
Metal Actuators

Magnetostrictive
Actuators

Magnetostriction occurs in the most

ferromagnetic materials and leads to many
effects. The most useful one to refer to is
the Joule effect. It is responsible for the
expansion (positive magnetostriction) or
the contraction (negative) of a rod
subjected to a longitudinal static magnetic
field. In a given material, this magnetostrain
is quadratic and occurs always in the same
direction whatever is the field direction.

Magnetostrictive
Actuators

Comparison of Actuating
System
Hydralic
Good

for large
robot and heavy
pay load
Higher
power/weight ratio
Stiff system, high
accuracy, better
response
No reduction gear
needed

Electric
Good

Pneumatic

Many components
for all sizes
of robots
are usually off-theBtter control, good shelf
Reliable
for high precision
robots
components
Higher compliance No leaks or sparks
than hydraulics
Inexpensive and
simple
Low pressure
compared to
hydrauluc

Ultrasonic Piezo Motors /

Piezo Linear Motor Driven
Stages