Examples 

‐ Drives
Dr. Sanjay Kumar Singh
Associate Professor Senior, Department of Communication Engineering, 
School of Electronics Engineering, Vellore Institute of Technology, 
Vellore [India]

Fall 2023‐24
 Electric Drive
Torque on the rotor of the electric motor is given by,

𝑇 𝐾 ∙𝐼

where, 𝐾 Motor torque constant

𝑉 𝑒
𝐼 Armature current
𝑅

𝑉 Input voltage to the motor

𝑅 Armature resistance
𝑒 Back e.m.f. 𝐾 ∙𝜔
𝐾 Voltage constant
ω Angular velocity
If 𝑃 is the power rating then torque rating is given by,
60𝑃
𝑇 𝑁 Speed specification of the motor
2𝜋𝑁
Example:
A DC motor is used to drive a robot joint has a torque constant 1.25 N-m/A and
a voltage constant of 12 10 V/rpm. The armature resistance of 2.5 ohms. A
voltage of 25 V is applied at a point of time of robot cycle when the joint is
stationary. Determine:
(a). The torque of the motor immediately after the voltage is applied.
(b). The back e.m.f. and the respective torque corresponding to rotational speed
of 250 rpm and 500 rpm, respectively.

Solution: Data given: 𝐾 Torque constant 1.25 N-m/A

𝐾 Voltage constant 12 10 V/rpm
𝑅 Armature resistance 2.5 ohms
𝑉 Input voltage 25 V

(a). Torque at the start of rotation,

𝑉 𝑒 𝑉 𝐾 ∙𝜔
𝑇 𝐾 ∙𝐼 𝐾 ∙ 𝐾 ∙
𝑅 𝑅
At the start, 𝜔 0.
𝑉 1.25 25
∴ 𝑇 𝐾 ∙ 12.5 N-m
𝑅 2.5

(b). When speed of rotation, 𝜔 250 rpm

𝑒 𝐾 ∙𝜔 12 10 250 3V

and 𝑉 𝑒 25 3
𝑇 𝐾 ∙ 1.25 11 N-m
𝑅 2.5

When speed of rotation, 𝜔 500 rpm

𝑒 𝐾 ∙𝜔 12 10 500 6V

and 𝑉 𝑒 25 6
𝑇 𝐾 ∙ 1.25 9.5 N-m
𝑅 2.5
 Hydraulic/ Pnumatic Drive
For linear actuator:

𝐹 𝑡 𝑝 𝑡 ∙𝐴

where, 𝐹 𝑡 Force
𝑝 𝑡 Pressure of the fluid
𝐴 Area of the piston/ cylinder
𝜋
𝐷 𝐴 or, 𝐴
4
where, 𝐷 or, 𝐷 Diameter of the piston/ cylinder
𝜋
𝐷
4
where, 𝐷 Diameter of the rod
 𝑓 𝑡
𝑣 𝑡
𝐴

where, 𝑣 𝑡 Velocity of the piston

𝑓 𝑡 Fluid flow rate

𝑃 𝑡 𝐹 𝑡 ∙𝑣 𝑡

Or,

𝑃 𝑡 𝑝 𝑡 ∙𝑓 𝑡

where, 𝑃 𝑡 Power delivered

 Hydraulic/ Pneumatic Drive

For rotary actuator:

The angular velocity, 𝜔, and Torque, 𝑇, is
given as follows:

2𝑓 𝑡
𝜔 𝑡
𝑅 𝑟 𝑡

1
𝑇 𝑡 𝑃 𝑡 𝑅 𝑟 𝑡
2

where,
𝑅: outer radius of the vane,
𝑟: inner radius,
ℎ: thickness of the vane,
𝜔: angular velocity and
𝑇: torque
Example:
A pump supplies oil at 0.0016 𝑚 ⁄𝑠 to a 40 𝑚𝑚 diameter double‐acting
hydraulic cylinder. If the force applied is 5000 𝑁 (extending and retracting),
find the hydraulic pressure and Piston velocity during the extending stroke.

Solution:

Hydraulic pressure during the extending stroke is
𝐹 𝑡 5000 5000
𝑝 𝑡 𝜋 𝜋 3978 𝑘𝑃
𝐴 ∙𝐷 ∙ 0.04
4 4

Piston velocity during the extending stroke is
𝑓 𝑡 0.016 0.016
𝑣 𝑡 𝜋 𝜋 1.273 𝑚/𝑠
𝐴 ∙𝐷 ∙ 0.04
4 4
Example:
Refer to the following design parameters of the rotary hydraulic actuator shown
in Figure below. Obtain the angular velocity and torque developed for a robotic
manipulator.
Design Parameters:
Outer radius of the vane, 𝑅 200 𝑚𝑚
Inner radius of the vane, 𝑟 50 𝑚𝑚
Thickness of the vane, 𝑡 20 𝑚𝑚
Fluid flow rate, 𝑓 𝑡 0.0046 𝑚 ⁄𝑠
Diameter of the piston, 𝑑 40 𝑚𝑚
Load on the piston, 𝐹 7000 𝑁

Solution:
2𝑓 𝑡 2 0.0046 2 0.0046
𝜔 𝑡 12.26 𝑟𝑎𝑑 𝑠
𝑅 𝑟 𝑡 0.2 0.05 0.02 0.0375 0.02
1
𝑇 𝑡 𝑃 𝑡 𝑅 𝑟 𝑡
2
1 7000 1 7000 4
0.0375 0.02 2088.9 N‐m
2 𝜋 0.04 2 𝜋 0.0016
4
Example:
A double acting, single ended piston pneumatic cylinder is used to actuate one
of the joints of a robot manipulator. The cylinder has a diameter of 80 𝑚𝑚
and diameter of the rod is 40 𝑚𝑚. If the cylinder receives air flow at a rate of
1⁄600 𝑚 ⁄𝑠 with a pressure of 6 10 𝑁⁄𝑚 . Find the:
(a). extension and retraction speeds.
(b). extension and retraction load carrying capacities.

Solution: Data given:
Diameter of the cylinder/ piston head,  𝐷 80 𝑚𝑚 0.08 𝑚
Diameter of the rod,  𝐷 40 𝑚𝑚 0.04 𝑚
Air flow rate,  𝑓 𝑡 1⁄600 𝑚 ⁄𝑠
Supplied pressure of air,  𝑃 𝑡 6 10 𝑁⁄𝑚
(a). Forward Stroke:
𝑓 𝑡 𝑓 𝑡 1⁄600
𝑣 0.3315 𝑚⁄𝑠
𝐴 𝜋𝐷 𝜋 0.08
4 4
𝜋𝐷 6 10 𝜋 0.08
𝐹 𝑃 𝐴 𝑃 2513.3 𝑁
4 4
(b). Reverse Stroke:

𝑓 𝑡 𝑓 𝑡
𝑣 𝜋
𝐴 𝐴 𝐷 𝐷
4
1⁄600
𝜋 0.442 𝑚⁄𝑠
0.08 0.04
4

𝜋
𝐹 𝑃 𝐴 𝐴 𝑃 𝐷 𝐷
4
6 10 𝜋 0.08 0.04
2261.95 𝑁
4