ELECTRIC ACTUATORS

 Electric actuators are referred where an electric motor drives

the robot links through some mechanical transmission. (e.g)
Gears.
 In early years of industrial robot, hydraulic robots were the
most common, but recent improvements in electric motor
design have meant that most new robots are of all electric
construction.

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ELECTRIC ACTUATORS ADVANTAGES

 Widespread availability of power supply.

 The basic drive element in an electric motor is usually lighter
than that for fluid power.
 High power conversion efficiency.
 No pollution of working environment.
 The accuracy and repeatability of electric power driven robots
are normally better than the fluid power robots in relation to
cost.

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ELECTRIC ACTUATORS ADVANTAGES

 Being relatively quiet and clean, they are very acceptable

environmentally.
 They are easily maintained and repaired.
 Structural components can be light weight.
 Drive system is well suited to electronic control.

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ELECTRIC ACTUATORS DISADVANTAGES

 Electrically driven robots often require the incorporation of

some sort of mechanical transmission system.
 Due to the increased complexity of the transmission system,
additional cost is incurred for their procurement and
maintenance.
 Electric motors are not completely safe. Therefore they
cannot be used in explosive atmosphere.

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TYPES OF ELECTRIC ACTUATORS

The common types of electrical motors are:

(i) Servomotor.
(ii) Stepper motor

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SELECTION OF MOTORS

 In any application, it is necessary to check the available

actuators which is suitable or not.
 Certain parameters like positioning accuracy, reliability, speed
of operation, cost and other factors may be considered.
 Electric motors are inherently clean and capable of high
precision if operated properly.
 Electric motors must have individual controls capable of
controlling their power.

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SELECTION OF MOTORS

 Current switching must be done rapidly otherwise there is a

large power dissipation in the switching circuit that will cause
it heat excessively.
 Small electrical motors uses simple switching circuits and are
easy to control with the low power circuits.
Stepper motors are especially simple for open-loop operation.
 Electric motors are preffered at power levels under about 1.5
Kw unless there is a danger due to possible ignition of
explosive materials.

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SELECTION OF MOTORS

 At ranges between 1 − 5 kW the availability of robot in a

particular coordinate system with specific characteristics or at
lower cost may determine the decision.
 Reliability of all types of robot made by reputable
manufactures is sufficiently good.
 The above mentioned are the common factors considered for
selection of motor.

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COMPARISON OF PNEUMATIC, HYDRAULIC ELECTRICAL
DRIVES:

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COMPARISON OF PNEUMATIC, HYDRAULIC ELECTRICAL
DRIVES:

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