CHAPTER TWO: ACTUATOR

Classification of Power Systems

Power systems are used to transmit and control power.

The following are the basic parts of a power system.

1. Source of energy, delivering mechanical power of rotary motion.

Electric motors and internal combustion engines (ICE) are the most
commonly used power sources. For special applications, steam turbines,
gas turbines, or hydraulic turbines are used.

2. Energy transmission, transformation, and control elements.

Classification of Power Systems
3. Load requiring mechanical power of either rotary or linear motion.
In engineering applications, there exist different types of power systems:
mechanical, electrical, and fluid.
Mechanical Power Systems
The mechanical power systems use mechanical elements to transmit and
control the mechanical power. The drive train of a small car is a typical
example of a mechanical power system. The gearbox is connected to the
engine through the clutch the input.
What is mechatronics ?
Electrical Power Systems

Electrical power systems solve the problems of power transmission distance

and flexibility, and improve controllability. These systems offer advantages
such as high flexibility and a very long power transmission distance, but they
produce mainly rotary motion. Rectilinear motion, of high power, can be
obtained by converting the rotary motion into rectilinear motion by using a
suitable gear.
Electrical Power Systems
Pneumatic Power Systems

Pneumatic systems are power systems using compressed air as a working

medium for the power transmission. Their principle of operation is similar
to that of electric power systems.
The air compressor converts the mechanical energy of the prime mover into
mainly pressure energy of compressed air.
This transformation facilitates the transmission and control of power. An air
preparation process is needed to prepare the compressed air for use.
Pneumatic Power Systems

The air preparation includes filtration, drying, and the adding of lubricating
oil mist. The compressed air is stored in the compressed air reservoirs and
transmitted through rigid and/or flexible lines.
The pneumatic power is controlled by means of a set of pressure, flow, and
directional control valves. Then, it is converted to the required mechanical
power by means of pneumatic cylinders and motors (expanders).
Pneumatic Power Systems
Hydraulic Power Systems

The hydraulic power systems transmit mechanical power by increasing the

energy of hydraulic liquids. Two types of hydraulic power systems are
used: hydrodynamic and hydrostatic. Hydrodynamic (also called
hydrokinetic) power systems transmit power by increasing mainly the
kinetic energy of liquid. Generally, these systems include a hydrodynamic
pump, a turbine, and additional control elements. The applications of
hydrodynamic power systems are limited to rotary motion
Hydraulic Power Systems

In the hydrostatic power systems, the power is transmitted by increasing

mainly the pressure energy of liquid. These systems are widely used in
industry, mobile equipment, aircrafts, ship control, and others. the
hydrostatic power systems, which are commonly called hydraulic power
systems.
Hydraulic Power Systems
Components of Hydraulic Systems
Components of pneumatic Systems
Actuator

Cylinders and motors form the hydraulic circuit component called the
actuators. They extract energy from the pressurized fluid and convert it to
mechanical energy to perform linear or rotary motions.
Hydraulic cylinders (linear actuators) extend and retract a piston rod to exert
a force on an external load along a straight line path.
Hydraulic motors (rotary actuators) rotate a shaft to provide a torque to drive
the load along a rotary path. The rotation could be complete or partial.
Cylinders: single acting cylinder
(a) Spring Retracted Type: A spring retracted single acting cylinder develops
thrust in one direction only. The piston rod is returned by the spring

1- Piston
2- Piston rod
3- Return Spring
4- Rod Cover
5- Head Cover
6- Piston Seal
7- Stopper Spring
8- Guiding Ring
Cylinders: Double acting cylinder
A double acting cylinder develops thrust in both extending and
retracting directions as air pressure is applied alternately to
opposite sides of a piston
1- Piston
2- Piston Rod
3- Rod Cover
4- Head Cover
5- Piston Seal
6- Rod Seal
18
Cylinders:
The tapered cushion plungers provide smooth deceleration at both ends of the
stroke. Different types of mountings are also shown below.
Cylinders:
The mounting situation has a bearing on the dimension of the rod. Effects of
misalignment can be reduced in some kinds of mountings by increasing the
length of the rod. The failure can be due to deflection or buckling.
Cylinders:
Cylinder Loading
Vertical loading – load on cylinder is the weight of the object.
Sliding an object along a horizontal surface- the load is to overcome frictional
force.
Lifting a weight in an inclined direction-the cylinder load equals the component
of the object’s weight acting along the axis of the cylinder, plus the frictional
force if the object is sliding along an inclined surface.
Cylinders:
Cylinder loadings through mechanical linkages

In many applications the two forces will interact through linkages.

There are different types of linkages as shown below, which basically
transform a linear motion into either an oscillating or rotary motion. In
addition, linkages can also be employed to increase or decrease the effective
leverage and stroke of a cylinder.
Cylinders:
Cylinders:

Analysis on how to determine the hydraulic cylinder force required in a

linkage will be attempted on first-class, second-class and third-class systems.
A similar analysis can be made for the other types of linkages.
First-Class Liver
In this arrangement the lever fixed-hinge pin is located between the cylinder
and the load rod pins.
Cylinders:

Equality of moments (only for

vertical force) will result in
Fcyl(L1 cos θ) = Fload (L2 cos θ)
Cylinders:
This will give, Fcyl = (L2/L1) Fload
But, If the cylinder is offset by an angle φ from the vertical, the equation
will change to
Fcyl(L1 cos θ x cos φ) = Fload (L2 cos θ) which will give
Fcyl = [L2/(L1 cos φ)]Fload
For φ 10o or less cos φ is nearly unity and gives the same result as without
swiveling.
Cylinders:
Second-Class Lever System
It is characterized by the load rod pin being
located between the fixed-hinge pin and cylinder
rod pin of the lever.
Equating the moments about the fixed-hinge
will give
Fcyl cos φ (L1 + L2) cos θ = Fload (L2 cos θ)
Or
L2
Fcyl = Fload
( L1 + L2 ) cos 
Cylinders:
Third-Class Lever System
The cylinder rod pin lies between the load rod pin and fixed-hinge pin of the lever

Again equating moments about the fixed-hinge

pin will give
Fcyl cos φ (L2 cos θ) = Fload (L1 + L2) cos θ
or L1 + L2
Fcyl = Fload
L2 cos 
Cylinders:
A good example of an industrial
machine using cylinder loadings
through linkages is the excavator
shown in Fig
Cylinders:

There are a total of four cylinders to drive the three pin-connected members
called the boom, stick, and bucket. Observe that the two cylinders on the
boom act like third-class lever system. For the others the hinges are also
moving. To determine the loads on each cylinder, it is necessary to make a
force analysis using the resulting mechanical linkage configuration and the
given external load applied to the bucket.
Electrical Actuator
Types Electrical actuator
• DC-motors
• Stepper motors
Electrical Actuator

DC-motors
• simple, cheap
• easy to control
• can be overloaded
• limited overloading on high speeds
Electrical Actuator
Electrical Actuator

Stepper motors
• angle control
• slow
• usually no feedback used
• accurate positioning
• with out feedback not servos
• easy to control
Electrical Actuator