ROBOT ACTUATORS:

➢ Actuators are used for converting the hydraulic, electrical or

pneumatic energy into mechanical energy.

➢ The special applications of actuators are lifting, clamping,

opening, closing, mixing bending, buckling etc.

➢ Actuators perform the function just opposite to pumps.

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ROBOT ACTUATORS:

➢ Actuators are the muscles of robot. If we consider the links

and joints as the skeleton of the robot, the actuators act as
muscle.

➢ They move or rotate the links to change the configuration of

robots.

➢ The actuator must have enough power to accelerate and

decelerate the links and to carry the loads and it should be
light, economical, accurate, responsive, reliable, and easy to
maintain.

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TYPES OF ACTUATORS OR DRIVES:

➢ There are many types of actuators available, certain types are

as follows.

1. Pneumatic actuators.

2. Hydraulic actuators.

3. Electric motors.

(i) AC servomotor.

(ii) DC servomotor.

(iii) Stepper motor.

(iv) Direct drive electric motors.

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PNEUMATIC ACTUATORS

Pneumatic Power Drives:

➢ Pneumatic system will employ a linear actuator. (i.e.) Double

acting cushioned cylinder.

Working Principle:

➢ Pneumatic power drive systems use compressed air to move

the robot arm.

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PNEUMATIC ACTUATORS

➢ Air is compressed by an air compressor and then the

compressed air is directed through Filter, Regulator and
Lubricator (FRL) units to the hose pipes and then to the
pneumatic cylinders through the directional control valve.

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PNEUMATIC ACTUATORS

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PNEUMATIC ACTUATORS

➢ For stable supply, air compressor usually pumps air into a

storage tank and from there, it passes through FRL units to
the pneumatic cylinder.

➢ Figure 2.1 clearly illustrates the schematic sketch of

pneumatic power drive.

➢ As the air enters into the cylinder via the directional control
valve, the piston moves on its outward stroke and when the
air is diverted to enter into the other end of the cylinder, the
piston makes the return stroke.

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PNEUMATIC ACTUATORS

➢ The return air is exhausted into the atmosphere.

➢ Pneumatic control valve can be operated by either levers,

rollers or solenoids and this can also be pilot operated.

➢ Solenoid controlled valves are most common and they can be

operated by micro switches which energize the solenoids.

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ADVANTAGES OF PNEUMATIC ACTUATORS

➢ It is cheapest form of all actuators.

➢ Components are readily available and compressed air

normally is an already existing facility in factories.

➢ Compressed air can be stored and conveyed easily over long

distances.

➢ They have few moving parts making them inherently reliable

and reducing maintenance costs.

➢ Compressed air is clean, explosion proof and insensitive to

temperature fluctuations, thus useful to many applications.

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ADVANTAGES OF PNEUMATIC ACTUATORS

➢ No mechanical transmission is usually required.

➢ The systems are usually compact.

➢ Control is simple e.g: Mechanical stops are often used.

➢ Individual components can be easily interconnected.

➢ They have a very quick action and response time thus

allowing for fast work cycles.

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DISADVANTAGES OF PNEUMATIC ACTUATORS

➢ Pneumatics are not suitable for moving heavy loads and

precise control due to the compressibility of air. This
compressibility necessitates the application of more forces
than would normally be necessary to ensure that the
actuator is firmly in position against its stop under loading
conditions.

➢ If moisture penetrates the units and ferrous metals have

been used, then damage to individual components will result
in.

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DISADVANTAGES OF PNEUMATIC ACTUATORS

➢ If mechanical stops are used, then resetting the system will

become slow.

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