Motion Actuator Rotation: Servo - Large

CH.09 CH.08 CH.07 CH.06 CH.05 CH.04 CH.03 CH.02 CH.
01
motion actuator
http://www.sparkfun.com/commerce/product_info.php?products_
rotation
A rotation is a moving thing a movement of an

object in a circular motion. An object rotates around a
center (or point) of rotation. A three-dimensional object
rotates always around an imaginary line called an axis
as the Euler’s rotation theorem shows. If the axis of
rotation is within the body, the body is said to rotate
upon itself, or spin—which implies relative speed and
perhaps free-movement with angular momentum. A
circular motion about an external point.
id=9238
Servo - Large
http://www.sparkfun.com/commerce/product_info.php?products_
motor id=9238
CH.09 CH.09
CH.08 CH.07 CH.06 CH.05 CH.04 CH.03 CH.02 CH.01
motion actuation:
linear actuation
http://www.firgelliauto.com/default.php?cPath=86
A linear actuator is an actuator that, when
driven by a non-linear motion, creates linear mo-
tion (as opposed to rotary motion, e.g. of an electric
motor). Mechanical and hydraulic actuation are the
most common methods of achieving the linear mo-
tion.
Typically, a rotary driver (e.g. electric motor)
is mechanically connected to a lead screw so that
the rotation of the electric motor will make the lead
screw rotate. A lead screw has a continuous heli-
cal thread machined on its circumference running
along the length (similar to the thread on a bolt). stroke tubular actuator
Threaded onto the lead screw is a lead nut with
http://www.active-robots.com/products/motorsandwheels/firgelli-linear-
corresponding helical threads. The nut is prevented
from rotating with the lead screw (typically the nut
interlocks with a non-rotating part of the actuator
body). Therefore, when the lead screw is rotated,
the nut will be driven along the threads. The direc-
tion of motion of the nut will depend on the direc-
tion of rotation of the lead screw. By connecting
linkages to the nut, the motion can be converted
to usable linear displacement. Most current actua-
tors are built either for high speed, high force, or
a compromise between the two. When considering
an actuator for a particular application, the most
important specifications are typically travel, speed,
actuators.shtml
force, accuracy, and lifetime.
Firgelli PQ Series with Position Feeback

control-hardware-el-pn-actuation/control-valve-actuators-and-position-
http://www.spiraxsarco.com/resources/steam-engineering-tutorials/
motion actuation:
hydraulic actuator
Hydraulic actuators or hydraulic cylinders typi-

cally involve a hollow cylinder having a piston inserted
in it. The two sides of the piston are alternately pressur-
ized/de-pressurized to achieve controlled precise linear
displacement of the piston and in turn the entity con-
nected to the piston. The physical linear displacement
is only along the axis of the piston/cylinder. This design
is based on the principles of hydraulics. A familiar ex-
ample of a manually operated hydraulic actuator is a
hydraulic car jack. Typically though, the term "hydraulic
ers.asp
actuator" refers to a device controlled by a hydraulic
pump.
hydraulic actuator
http://www.airoil.com/products/view/498/vrx-pneumatic-rotary-actuator.
html
hydraulic actuator
CH.01 CH.02 CH.03 CH.04 CH.05 CH.06 CH.07 CH.08 CH.09
motion actuator:
pneumatic actuator
Pneumatic actuators are powered by com-

pressed air. They offer rapid point-to-point linear
positioning and have a high load-carrying capac-
ity relative to their size; they are also cheap, me-
chanically simple and easy to maintain.
Pneumatic systems are extensively used in
industry, where factories are commonly plumbed
with compressed air or other compressed inert
gases. This is because a centrally-located and
electrically-powered compressor that powers cyl-
inders and other pneumatic devices through sole-
noid valves is often able to provide motive power typical piston actuators
in a cheaper, safer, more flexible, and more reli-
able way than a large number of electric motors
and actuators.
typical piston actuators

ProductDisplay?langId=-1&storeId=10001&catalogId=10001&pa=357595
motion actuator:
muscle wire
http://www.jameco.com/webapp/wcs/stores/servlet/
&productId=357595&keyCode=WSF&CID=GMC
A shape memory alloy (SMA, smart metal,
memory metal, memory alloy, muscle wire, smart
alloy) is an alloy that “remembers” its original, cold-
forged shape: returning the pre-deformed shape by
heating. This material is a lightweight, solid-state al-
ternative to conventional actuators such as hydraulic,
pneumatic, and motor-based systems. Shape memory
alloys have applications in industries including medi-
cal and aerospace.
The three main types of shape memory alloys
are the copper-zinc-aluminium-nickel, copper-alumin- typical muscle wire
ium-nickel, and nickel-titanium (NiTi) alloys but SMA’s
can also be created by alloying zinc, copper, gold, and
iron. NiTi alloys are generally more expensive and
change from austenite to martensite upon cooling; Mf
http://www.active-robots.com/products/motorsandwheels/linear-
is the temperature at which the transition to Martensite
is finished during cooling. Accordingly, during heating
As and Af are the temperatures at which the trans-
formation from Martensite to Austenite starts and fin-
ishes. Repeated use of the shape memory effect may
lead to a shift of the characteristic transformation tem-
peratures (this effect is known as functional fatigue,
as it is closely related with a change of microstructural
and functional properties of the material).
actuator.shtml
muscle wire rotate actuator
motion actuator:
http://www.mide.com/products/sma_kit/sma_starter_kit.php
shape momory alloy
A shape memory alloy (SMA, smart metal,

memory metal, memory alloy, muscle wire, smart
alloy) is an alloy that "remembers" its original, cold-
forged shape: returning the pre-deformed shape by
heating. This material is a lightweight, solid-state
alternative to conventional actuators such as hy-
draulic, pneumatic, and motor-based systems.
Shape memory alloys have applications in indus-
tries including medical and aerospace.
The three main types of shape memory al-

loys are the copper-zinc-aluminium-nickel, copper-
aluminium-nickel, and nickel-titanium (NiTi) alloys memory alloy starter kits
http://www.active-robots.com/products/motorsandwheels/linear-
actuator.shtml
Image Caption
mechanics of movement:
gears
Gears are used in tons of mechanical devices.

They do several important jobs, but most important, they
http://www.funtoymall.com/joeb591.html
provide a gear reduction in motorized equipment. This
is key because, often, a small motor spinning very fast
can provide enough power for a device, but not enough
torque. For instance, an electric screwdriver has a very
large gear reduction because it needs lots of torque to
turn screws, bu t the motor only produces a small amount
of torque at a high speed. With a gear reduction, the out-
put speed can be reduced while the torque is increased.
Another thing gears do is adjust the direction of ro-

tation. For instance, in the differential between the rear lego gears
wheels of your car, the power is transmitted by a shaft that
http://science.howstuffworks.com/transport/engines-equipment/gear.
runs down the center of the car, and the differential has to
turn that power 90 degrees to apply it to the wheels.
htm
gears connection
mechanics of movement
GEARS
On any gear, the ratio is determined by the dis-

tances from the center of the gear to the point of con-
tact. For instance, in a device with two gears, if one
gear is twice the diameter of the other, the ratio would
be 2:1.
One of the most primitive types of gears we

could look at would be a wheel with wooden pegs
sticking out of it.
The problem with this type of gear is that the
htm
distance from the center of each gear to the point of
contact changes as the gears rotate. This means that PEG WHEEL GEAR
the gear ratio changes as the gear turns, meaning that
the output speed also changes. If you used a gear like
this in your car, it would be impossible to maintain a
constant speed -- you would be accelerating and de-
celerating constantly.
Many modern gears use a special tooth profile

called an involute. This profile has the very important
property of maintaining a constant speed ratio between
the two gears. Like the peg wheel above, the contact
point moves; but the shape of the involute gear tooth
compensates for this movement. See this section for
details.
Spur gears are the most common type of gears.
They have straight teeth, and are mounted on parallel
shafts. Sometimes, many spur gears are used at once
to create very large gear reductions.
Spur gears are used in many devices that you

can see all over HowStuffWorks, like the electric screw-
driver, dancing monster, oscillating sprinkler, windup
alarm clock, washing machine and clothes dryer. But
you won’t find many in your car.
SPUR GEAR
htm
This is because the spur gear can be really loud.
Each time a gear tooth engages a tooth on the other
gear, the teeth collide, and this impact makes a noise.
It also increases the stress on the gear teeth.
To reduce the noise and stress in the gears,

most of the gears in your car are helical.
Image Caption
gears
Helical Gears
The teeth on helical gears are cut at an angle to the
face of the gear. When two teeth on a helical gear system
engage, the contact starts at one end of the tooth and
gradually spreads as the gears rotate, until the two teeth
are in full engagement.
This gradual engagement makes helical gears op-
erate much more smoothly and quietly than spur gears.
For this reason, helical gears are used in almost all car
transmissions.
Because of the angle of the teeth on helical gears,
they create a thrust load on the gear when they mesh. De-
htm
vices that use helical gears have bearings that can sup-
helical gears
port this thrust load.
One interesting thing about helical gears is that
if the angles of the gear teeth are correct, they can be
mounted on perpendicular shafts, adjusting the rotation
angle by 90 degrees.
gekucak gears htm

gears
Bevel Gears
Bevel gears are useful when the direction of a
shaft’s rotation needs to be changed. They are usually
mounted on shafts that are 90 degrees apart, but can
be designed to work at other angles as well.
The teeth on bevel gears can be straight, spiral
or hypoid. Straight bevel gear teeth actually have the
same problem as straight spur gear teeth -- as each
tooth engages, it impacts the corresponding tooth all
at once.
Just like with spur gears, the solution to this
problem is to curve the gear teeth. These spiral teeth
htm
engage just like helical teeth: the contact starts at one
bevel gears
end of the gear and progressively spreads across the
whole tooth.
On straight and spiral bevel gears, the shafts
must be perpendicular to each other, but they must
also be in the same plane. If you were to extend the
two shafts past the gears, they would intersect. The
hypoid gear, on the other hand, can engage with the
axes in different planes.
This feature is used in many car differentials.
The ring gear of the differential and the input pinion
gear are both hypoid. This allows the input pinion to be
mounted lower than the axis of the ring gear. Figure 7
shows the input pinion engaging the ring gear of the
differential. Since the driveshaft of the car is connected
to the input pinion, this also lowers the driveshaft. This
means that the driveshaft doesn’t intrude into the pas-
senger compartment of the car as much, making more bevel gears
htm
room for people and cargo.

gears
Worm Gears
Worm gears are used when large gear reduc-
tions are needed. It is common for worm gears to have
reductions of 20:1, and even up to 300:1 or greater.
Many worm gears have an interesting property

that no other gear set has: the worm can easily turn
the gear, but the gear cannot turn the worm. This is
because the angle on the worm is so shallow that when
the gear tries to spin it, the friction between the gear
and the worm holds the worm in place.
This feature is useful for machines such as con-

veyor systems, in which the locking feature can act as
htm
a brake for the conveyor when the motor is not turn- worm gears
ing. One other very interesting usage of worm gears is
in the Torsen differential, which is used on some high-
performance cars and trucks.
movement conversion
http://www.flying-pig.co.uk/mechanisms/
rotoary--liner
The rack and pinion is used to convert between rotary

and linear motion. The rack is the flat, toothed part, the pinion
is the gear. Rack and pinion can convert from rotary to linear
of from linear to rotary.
pages/cam.html
The diameter of the gear determines the speed that the
rack moves as the pinion turns. Rack and pinions are com-
monly used in the steering system of cars to convert the ro-
tary motion of the steering wheel to the side to side motion in
the wheels.
Rack and pinion gears give a positive motion especial-

ly compared to the friction drive of a wheel in tarmac. In the
rack and pinion railway a central rack between the two rails
engages with a pinion on the engine allowing the train to be
pulled up very steep slopes.
movement conversion
Cams are used to convert rotary motion into reciprocat-
ing motion. The motion created can be simple and regular or
complex and irregular.
As the cam turns, driven by the circular motion, the cam
pages/cam.html
follower traces the surface of the cam transmitting its motion
to the required mechanism.
movement conversion
Reciprocating motion is back and forth motion. In the
example to the left the reciprocating motion of the piston is
converted to the rotary motion in the crank.
Reciprocating motion is measured by its throw (the

distance between the two extremes of motion) and by its pe-
riod (the length of time for each cycle)
pages/cam.html
movement conversion
Geneva Stop
The Geneva stop is named after the Geneva cross,
a similar shape to the main part of the mechanism.
The Geneva stop is used to provide intermittent mo-

tion, the orange wheel turns continuously, the dark blue pin
then turns the blue cross quarter of a turn for each revolu-
pages/cam.html
tion of the drive wheel.
The crescent shaped cut out in dark orange section
lets the points of the cross past, then locks the wheel in
place when it is stationary.
The Geneva stop mechanism is used commonly in

film projectors to move the film on one frame at a time.
movement conversion
Irregular Motion
Irregular motion is motion which has no obvious
pattern to its movement. It is often needed in automata to
recreate the movements of living things.
Irregular motion is usually created using a cam or
pages/cam.html
series of cams
Irregular motion is not often used as the starting
point for a mechanism. It can, however be translated and
transormed as shown below.
movement conversion
Pulleys
On the left is a simple pulley. As the rope is
pulled down the weight moves up by the same dis-
tance.
pages/cam.html
In the compound pulley on the right the rope
is wrapped around two pulleys. As the rope is pulled
the weight, this time attached to the lower pulley rath-
er than direct to the rope, moves up slower than the
speed that the rope is pulled.
Corresponding to this reduction in speed is an
increase in the force on the weight.
The amount of increase in the force depends

on how many times the rope wraps round the pulleys.
By wrapping the rope several times around the pul-
leys it is easily possible to lift your own weight off the
ground!
movement conversion
Belt Drives
Belt drives are used transfer rotational mo-
tion from one place to another.
On the left, both pulleys are the same size.
pages/cam.html
Drive can be transfered by friction of the belt on
the pulley or, if required, buy using a toothed belt.
Chain drives work in a similar way.
By crossing the belt the direction of drive

can be changed.
On the right two sizes of pulley are used to

show how speed of rotation can be changed.
movement conversion
Ratchet
The ratchet can be used to move a toothed wheel
one tooth at a time. The part used to move the ratchet is
known as the pawl.
pages/cam.html
The ratchet can be used as a way of gearing
down motion. By its nature motion created by a ratchet
is intermittent. By using two pawls simultaniously this in-
termittent effect can be almost, but not quite, removed.
Ratchets are also used to ensure that motion

only occurs in only one direction, useful for winding
gear which must not be allowed to drop. Ratchets are
also used in the freewheel mechanism of a bicycle.
movement conversion
Invented by Girolamo Cardano in the 16th centu-

ry the Cardan gear is a way of converting rotary motion
into straight line motion. Watch how the red dot on the
inner purple gear exactly follows the vertical dotted line.
The outer gear has a diameter exactly twice as
large as the inner gear. In the above example they have
40 and 20 teeth respectively.
Cardano also invented a type of universal joint

and investigated the mathematics of probability. Under-
standing the mathematics of risk helped him make a liv-
ing from gambling until eventually he could find no-one
pages/cam.html
to gamble with and had to move onto new pastures...
movement conversion
Levers are an essential part of many mecha-

nisms. They can be used to change the amount, the
strength and the direction of movement.
The position of the force and the load are inter-
changeable and by moving them to different points on
the lever, different effects can be produced.
The fixed point of the lever about which it moves
is known as the fulcrum.
In this example the force and the load move in
opposite directions.
With the force three times closer to the fulcrum
them the load lifted is only one third of the force but it
pages/cam.html
move three times as far.
movement conversion
Bell Crank
The bell crank is used to convert the direction

of reciprocating movement. By varying the angle of the
crank piece it can be used to change the angle of move-
pages/cam.html
ment from 1 degree to 180 degrees.
The bell crank was originally used in large house

to operate the servant’s bell, hence the name.
movement conversion
Oscillating motion is motion which moves along
a path, then returns along that same path backwards
and forwards, backwards and forwards.
In this example the drive wheel is used to power
pages/cam.html
a waving machine, notice how the left to right move-
ment is slower than the right to left. This is because
that left to right motion takes place over a longer part
of the drive wheels turn.
By moving the drive wheel closer to the pivot

point this effect can be exaggerated. The same mech-
anism is used in mechanical saws to provide a quick
return after the cutting stroke.
joints
http://web.mit.edu/mecheng/pml/spec_config.htm
ball joints are spherical bearings that connect
the control arms to the steering knuckles. More spe-
cifically, a ball joint is a steel bearing stud and socket
enclosed in a steel casing. The bearing stud is tapered
and threaded. It fits into a tapered hole in the steering
knuckle. A protective encasing prevents dirt from get-
ting into the joint assembly. Motion control ball joints
tend to be retained with an internal spring, which helps
to prevent vibration problems in the linkage. Common-
ly found in automotive throttle linkages, throttle body
set ups, these are also widely used on construction
equipment, the end of gas springs and in children’s
toys.
mechanics of movement
joints
Description: A metal caster used for omni-direc-

tional robots.
Relevant youtube video webaddress

Omni-what? Imagine a robot with the dual-
Relevant website of the provider

motor gear box. The robot can pivot in one spot, but
it must also allow the other wheels on the drive train
to move or slide during a turn. This caster allows the
robot to rotate and pivot in all directions - omni-direc-
tional - without the need for complex steering mecha-
nisms.
Ball Caster Omni-Directional Metal
http://www.sparkfun.com/commerce/product_info.
php?products_id=320
Ball Caster Omni-Directional Metal

joints
Revolute joint seen in 3-dimensional, noting
that the joint may only move in one direction.A revolute
joint (also called pin joint or hinge joint) is a one de-
gree of freedom kinematic pair used in mechanisms.
[1] Revolute joints provide single-axis rotation func-
tion used in many places such as door hinges, folding
mechanisms, and other uni-axial rotation devices.
http://www.the-crankshaft.info/2009/09/universal-joints.html
joints
This type of joint is also called a Hooke-type

coupling as it was developed from the joint invented
by Robert Hooke in the seventeenth century. This joint
is commonly used today. The joints in Fig.A and B rep-
resent the basic and developed forms respectively.
They use two yokes set at 90 degrees to each other
and a cross-shaped trunnion block joins these yokes.
joints
A prismatic joint (also called sliders) is a one
degree of freedom kinematic pair used in mecha-
nisms.[1] Prismatic joints provide single-axis sliding
function used in places such as hydraulic and pneu-
matic cylinders.
CH.09 CH.09
joints
A cylindrical joint is a two degrees of freedom

kinematic pair used in mechanisms.[1] Cylindrical
joints provide single-axis sliding function as well as a
single axis rotation, providing a way for two rigid bod-
ies to translate and rotate freely. This can be pictured
by an unsecured axle mounted on a chassis, as it may
freely rotate and translate.
CH.09 CH.09
joints
A screw joint is a one degree of freedom kine-

matic pair used in mechanisms.[1] Screw joints pro-
vide single-axis translation by utilizing the threads of
the threaded rod to provide such translation. This type
of joint is used primarily on most types of linear actua-
tors and certain types of cartesian robots.

Motion Actuator Rotation: Servo - Large

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CH.09 CH.08 CH.07 CH.06 CH.05 CH.04 CH.03 CH.02 CH.

A rotation is a moving thing a movement of an

Firgelli PQ Series with Position Feeback

Hydraulic actuators or hydraulic cylinders typi-

Pneumatic actuators are powered by com-

typical piston actuators

A shape memory alloy (SMA, smart metal,

The three main types of shape memory al-

Gears are used in tons of mechanical devices.

Another thing gears do is adjust the direction of ro-

On any gear, the ratio is determined by the dis-

One of the most primitive types of gears we

The problem with this type of gear is that the

Many modern gears use a special tooth profile

Spur gears are used in many devices that you

To reduce the noise and stress in the gears,

gekucak gears htm

room for people and cargo.

Many worm gears have an interesting property

This feature is useful for machines such as con-

The rack and pinion is used to convert between rotary

Rack and pinion gears give a positive motion especial-

As the cam turns, driven by the circular motion, the cam

Reciprocating motion is back and forth motion. In the

Reciprocating motion is measured by its throw (the

The Geneva stop is used to provide intermittent mo-

The Geneva stop mechanism is used commonly in

The amount of increase in the force depends

On the left, both pulleys are the same size.

By crossing the belt the direction of drive

On the right two sizes of pulley are used to

Ratchets are also used to ensure that motion

Invented by Girolamo Cardano in the 16th centu-

Cardano also invented a type of universal joint

Levers are an essential part of many mecha-

The bell crank is used to convert the direction

The bell crank was originally used in large house

In this example the drive wheel is used to power

By moving the drive wheel closer to the pivot

Description: A metal caster used for omni-direc-

Relevant youtube video webaddress

Relevant website of the provider

Ball Caster Omni-Directional Metal

Ball Caster Omni-Directional Metal

This type of joint is also called a Hooke-type

A cylindrical joint is a two degrees of freedom

A screw joint is a one degree of freedom kine-

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