Chapter 4

Actuators and Drivers

In order to operate a mechanism, an actuator, or driver device, is required to provide the
input motion and energy.

Hydraulic or pneumatic cylinders are common components used to drive a

mechanism with a limited linear stroke. The next Figure-a illustrates a hydraulic
cylinder. The next Figure-b shows the common kinematic representation for the
cylinder unit.

Hydraulic cylinder.

Important note: Figure “b” of the “Hydraulic

cylinder” can be used also for
the screw actuator.
Screw actuators also produce a limited linear stroke. These actuators consist of a
motor, rotating a screw. A mating nut provides the linear motion. Screw actuators can
be accurately controlled and can directly replace cylinders. However, they are
considerably more expensive than cylinders if air or hydraulic sources are available.
Similar to cylinders, screw actuators also have provisions for pin joints at the two
ends. Therefore, the kinematic diagram is identical to Figure b, of the Hydraulic
cylinder.

Air or hydraulic motors also produce continuous rotary motion and are similar to
electric motors, but have more limited applications. This is due to the need for
compressed air or a hydraulic source. These drive devices are mostly used within
machines, such as construction equipment and aircraft, where high pressure hydraulic
fluid is available.
Engines also generate continuous rotary motion. The speed of an engine can be
throttled within a range of approximately 1000 to 8000 rpm. They are a popular and
highly portable driver for high-power applications. Because they rely on the combustion
of fuel, engines are used to drive machines that operate outdoors.

Electric motors (AC) provide the least expensive way to generate continuous rotary
motion. However, they are limited to a few standard speeds that are a function of the
electric line frequency. However, frequency inverters can be used to control the
frequency of the current and the control the speed of the “AC” motors. For the last point
please see the course of the “Power Electronics”.

Electric motors (DC) also produce continuous rotary motion. The speed and direction
of the motion can be readily altered, but they require power from a generator or a
battery. DC motors can achieve extremely high speeds––up to 30,000 rpm. These
motors are most often used in vehicles, cordless devices, or in applications where
multiple speeds and directional control are required, such as a sewing machine.

Servomotors are motors that are coupled with a controller to produce a programmed
motion or hold a fixed position. The controller requires sensors on the link being moved
to provide feedback information on its position, velocity, and acceleration. These motors
have lower power capacity than non-servomotors and are significantly more expensive,
but they can be used for machines demanding precisely guided motion, such as robots.

Manual, or hand-operated, mechanisms comprise a large number of machines, or hand

tools. The motions expected from human “actuators” can be quite complex. However,
if the expected motions are repetitive, caution should be taken against possible fatigue
and stain injuries.

SPECIAL CASES OF THE MOBILITY EQUATION

Mobility is an extremely important property of a mechanism. Among other facets,
it gives insight into the number of actuators required to operate a mechanism.
However, to obtain correct results, special care must be taken in using the Gruebler’s
equation. Two special conditions are presented next.

Examples: Coincident Joints ( Important Cases )

Some mechanisms have three links that are all connected at a common pin joint, as
shown in the next Figure. This situation brings some confusion to kinematic modeling.
Physically, one pin may be used to connect all three links. However, by definition, a pin
joint connects two links. For kinematic analysis, this configuration must be
mathematically modeled as two separate joints. One joint will connect the first and
second links. The second joint will then connect the second and third links. Therefore,
when three links come together at a common pin, the joint must be modeled as two
pins.

Three links connected at a common pin joint.

THE FOUR-BAR MECHANISM

The simplest and most common linkage is the four-bar linkage. It is a combination of
four links, one being designated as the frame and connected by four pin joints.

Because it is comprised of four links connected by four pin joints and one link is
unable to move.
Example 1 of the THE FOUR-BAR MECHANISM

The mechanism for an automotive rear-window wiper system is shown in the next
Figure.

Rear-window wiper mechanism

Example 2 of the THE FOUR-BAR MECHANISM

Landing Gear (i.e. Landing Mechanism) assembly for a small aircraft is shown in
the next Figure.

Landing Gear (i.e. Landing Mechanism) assembly for a small aircraft.

Example 3 of the THE FOUR-BAR MECHANISM

SLIDER-CRANK MECHANISM

Another mechanism that is commonly encountered is a slider-crank. This mechanism

also consists of a combination of four links, with one being designated as the frame.
This mechanism, however, is connected by three pin joints and one sliding joint. A
mechanism that drives a manual water pump is shown in the Figure.

Pump mechanism for a manual water pump

Important:

1. Of course, the link that is unable to move is referred to as the

frame.

2. Typically, the pivoted link that is connected to the driver or

power source is called the input link.

3. The other pivoted link that is attached to the frame is designated

the output link or follower.

4. The coupler or connecting arm “couples” the motion of the

input link to the output link.

Egyptian Russian University
Faculty of Engineering
Department of Mechatronics & Robotics Engineering

Subject: Theory of Machines

Sheet Number 4 - Chapter 4
Actuators and Drivers
PROBLEM 1
The given Figure shows an outrigger foot to stabilize a utility truck. Draw a kinematic
diagram, using the bottom of the stabilizing foot as a point of interest. Also compute the
degrees of freedom.

Outrigger of the Vehicle

PROBLEM 2
The given Figure presents a lift table used to adjust the working height of different
objects. Draw a kinematic diagram and compute the degrees of freedom.

Lift table
PROBLEM 3

The given Figure shows a mechanical press used to exert large forces to insert a small
part into a larger one. Draw a kinematic diagram, using the end of the handle as a
point of interest. Also compute the degrees of freedom.

Mechanical press

PROBLEM 4: THE FOUR-BAR MECHANISM

The mechanism for an automotive rear-window wiper system (four-bar mechanism) is

shown in the next Figure. Draw a kinematic diagram and compute the degrees of
freedom.

Rear-window wiper mechanism (four-bar mechanism).

PROBLEM 5: THE FOUR-BAR MECHANISM

Landing Gear (i.e. Landing Mechanism) assembly for a small aircraft is shown in
the next Figure. Draw a kinematic diagram and compute the degrees of freedom.

Landing Gear (i.e. Landing Mechanism) assembly for a small aircraft.

PROBLEM 6: THE FOUR-BAR MECHANISM- SLIDER-CRANK MECHANISM

Pump mechanism for a manual water pump is shown in the next Figure. Draw a
kinematic diagram and compute the degrees of freedom.

Pump mechanism for a manual water pump