Actuators

By: Steven Freeman 10/6/04

Outline

Types Uses Costs Standards Vendors Technical Paper References Summary

Types of Actuators

Electrical
Ac and dc motors Stepper motors solenoids

Hydraulic

Use hydraulic fluid to actuate motion Use compressed air to actuate motion

Pneumatic

Current State of Actuators

All three types of actuators are in use today Electric actuators are the type most commonly used Hydraulic and pneumatic systems allow for increased force and torque from smaller motor There are some dual function actuators

i.e. rotation and translation

Used for all Automation

Actuators are used everywhere there is automation

robot, conveyor system, etc.

Linear Actuator

Rotary Electric Motor Actuator

Where Used

Electric motors used for high precision

Precise robot applications such as automotive and pharmaceutical Now up to 10,000 lbf

Hydraulic actuators used for increased torque

High force and torque applications up to 32,000 lbf High precision achievable

Pneumatic actuators are used for lower cost and lower precision applications

Specifications Electric Motors

AC Electric Motor price range

$100 to $7,100 HP to 100 HP 19lbs to 1429lbs 1800 rpm 120 to 230 input voltage Up to 1024 pulses per revolution

Specifications Electro Hydraulic

high force-density, precise control, and long operating life Thrusts from 500 to 32,000 pounds force @ 2,500 psi Stroke lengths ranging from fractions of an inch to 40 inches Can provide up to 448,000 lb.ins torque, and are typically used as valve actuators in the rotary actuator format linear actuator travel is from 0.005 to 6 inches per second Resolution can be as fine as 0.002 inches accuracy with 100% repeatability
M125 Actuator Diameter Weight Stroke Force Rod End 2" of 1/2" - 20 UNF 2A Thread Motor 12 VDC operating Range 360 degree Price

2.625

16 lbs

4"

1600lb

$745

Hydraulic Controlled Arm

Marvin Minsky developed the Tentacle Arm, which moved like an octopus. It had twelve joints designed to reach around obstacles. A PDP-6 computer controlled the arm, powered by hydraulic fluids. Mounted on a wall, it could lift the weight of a person

Supporting Equipment

Amplifier or driver Unit

Amplify electric power coming from controller $30 to $3,500

Encoder

Identify location of motor

Gripper, conveyor, rollers, or other actuation devices

Standards

Standards Based on application

Cheap low quality actuators Expensive high quality high precisions actuators Torque and force requirements Position holding when not moving

Major Vendors

Electric Motors

Marathon Electric Automation Direct DECCO

M-MAC Actuators PHD Inc. Parker

Solenoid

Hydraulic Systems

Pnuematic

Technical Paper - High Torque to Weight Ratio Robot Actuator

Hydrostatic system

Advantages: High torque, light weight, accurate torque control Disadvantage: extra dynamics to be accounted for

Model of Motor Dynamics

Model of the motor dynamics

Tp = torque from motor windings q = fluid flow rate q = angular displacement D = q/q b = coefficient of viscous friction Ts = Coulomb friction due to seals and bearings J = inertia of the coupled pump and motor rotors F(p1+p2) = Coulomb friction term, increases linearly with pressure

Achievements

Brushless dc 6000 rpm motor was used 40 in-lb peak torque output

Hydraulic transmission ratio 484.7:1

Theoretical peak torque = 19,388 in-lb Max output speed 12.4 rpm Actual peak torque = 7300 in-lb due to 2000 psi limitation on internal seals

Class Application

What is the resolution of the ac motor with 1024 pulses per revolution Resolution = 360o/1024 = 0.351o/pulse

Video of Robot Leg Bends

Movement accomplished by electric motors

Power transmitted to the joints via cable drives

Summary

Three major actuator types All different types of Applications

Need good precision, electrical actuator Need large forces, hydraulic actuator Low cost, pneumatic actuator

Note: can get high precision expensive pneumatic actuators

References

www.adept.com www.mmacactuators.com web6.automationdirect.com www.phdinc.com www.parker.com www.robotics.com www.computerhistory.org

www.ai.mit.edu/projects/leglab/robots
Bobrow and Desai, A high torque to weight ratio robot actuator, Robotica (1995) volume 13, pp. 201-208, Cambridge University Press

Questions?