MECHATRONICS ACTUATOR SYSTEMS

ADITYA M. INTWALA
PG Student, Department of Mechanical Engineering, Symbiosis
Institute Of Technology, Pune, India
What Are
Actuators ?
ACTUATORS
Hardware devices that convert a controller
command signal into a change in a physical
parameter
The change is usually mechanical (e.g., position or
velocity)
An actuator is also a transducer because it changes
one type of physical quantity into some alternative
form
An actuator is usually activated by a low-level
command signal, so an amplifier may be required to
provide sufficient power to drive the actuator

ACTUATOR SYSTEM
Signal Processing
& Amplification
Mechanism
Electric Hydraulic
Pneumatic Final Actuation
Element
Actuator
Sensor
Logical
Signal
TYPES OF ACTUATORS
Electrical actuators
Electric motors
DC servomotors
AC motors
Stepper motors
Solenoids
Hydraulic actuators
Use hydraulic fluid to amplify the controller
command signal
Pneumatic actuators
Use compressed air as the driving force
RELAYS
Relays are electrically operated
switches in which changing a
current in one electric circuit
switches a current on or off in
another circuit.
In the shown circuit when the
solenoid is energized, a magnetic
field is produced, which attracts
the iron armature, moves the
push rod and in result: closes the
normally open contact and open
the normally closed contact
EXAMPLE OF RELAYS
SOLID STATE SWITCH: DIODE
Unidirectional uncontrolled switch used to rectify or
permit current flow in one direction
SOLID STATE SWITCH: THYRISTOR
Unidirectional controlled
switch used to control the
flow of currents by
controlling the gate circuit
Linearly proportional
POWER
Gate controls when
current flows
Commonly used in
heating control and motor
speed control
THYRISTOR WORKING
If forward breakdown is at
200V then when this voltage is
reached the thyristor switches
on and the voltage drops to 1
or 2V. If the thyristor is in
series with 20ohm resistance
then before breakdown we
have very high resistance in
series so virtually all 200V is
across thyristor so negligible
current. when forward
breakdown occurs voltage
drops to 2V so there is 198V
across 20ohm hence current
rises 198/20 = 9.9 A
SOLID STATE SWITCH: TRIACS
Triac is similar to the thyristor and equivalent to a pair of
thyristors connected in reverse parallel on the same chip
SOLID STATE SWITCH: MOSFET
MOSFET : Metal Oxide Field
Effect Transistors
Here no current flows into
the gate to exercise the
control, the gate voltage is
the controlling signal. Thus
drive circuitry can be
simplified, e.g. no need to
concerned about the size of
the current
With MOSFET, higher
frequency switching is
possible, up to 1 MHz level
voltage
DC MOTORS
AC MOTORS
3phase Syncronous squirelCage
SERVO MOTORS
Sometimes called control motors, are electric motors
that are specially designed and built for use in feedback
control system as output actuators.
Ratings: fractional of watts to several 100 watts
Higher speed response, smaller in diameter and longer
in length
Normally operate at low or zero speed
Used in robots, radar, computers, tracking and guidance
systems and in process control.
Both DC and AC servomotors are used at present
STEPPER MOTORS
A stepper motor rotates by specfc number of degrees n
response to an input electrical pulse. Typical step size
are 20, 2.50,50, 7.50, and 150 for each electrical pulse
It is electromechanical incremental actuator that can
convert digital pulses into analog output shaft motion.
In normal situation No position sensor or feedback is
required to make the output response
Typical applications: printers, tape and disk drives,
machine tools, process control, X-Y recorders or motion,
and robotics
SERVO & STEPPER MOTORS
LOAD TORQUE CURVE
Torque, T
Load
Operating
Points
DC Servo
AC Servo
Stepper
Speed,
HYDRAULIC AND PNEUMATIC
ACTUATORS
Gear Pump
Radial Piston Pump
Rotary Vane Pump
Variable Displacement Pump
Reciprocating Compressor
Screw Compressor
Closed Centre Valve
Hydraulic Ram
Hydraulic Arm

ACTUATORS COMPARISION

Electrical Linear Actuators Hydraulic Cylinders Pneumatic Cylinders
Installation All electric operation requires
simple wiring.
Requires expensive plumbing,
filtering, pumps, etc.
Requires expensive plumbing,
filtering, pumps, etc.
Accuracy Very repeatable Requires expensive position
sensing , has tendency to
creep.
Difficult to achieve.Requires
expensive position sensing and
precise valving ,has tendency
to creep.
Control Easily Controlled Through
Microprocessor directly.
Requires electronic/fluid
interfaces and exotic valve
designs. complicate control.
Inherently non-linear,
compressible power source
severely complicates servo
control.
ACTUATORS COMPARISION
Speed Smooth, variable speed Difficult to control accurately.
Varies with temperature and
wear. Stick slip can be a
problem.
More susceptible to stick slip
and varying load. Well-suited
for light high speed
applications.
Reliability Repeatable, reproducible
performance during the entire
product life. Very little
maintenance required.
Very contamination sensitive.
Require regular maintenance.
Seals are prone to leak.
Reliable with regular
maintenance.
Very contamination sensitive.
Air sources require proper
filtration. Good reliability, but
usually many system
components are involved.
Power Up to 40 000 N Virtually unlimited force. Most
powerful.
Up to 25 000 N. Typically used
below 6000 N.
Life expectancy Up to millions of cycles at rated
load. Easy to predict.
Dependent on design and seal
wear, usually good.
Dependent on design and seal
wear, usually good.
ACTUATORS COMPARISION
Environment Inherently clean and energy
efficient.
Temperature extremes can be
a major problem. Seals are
prone to leak. Waste disposal
is increasingly problematic.
Temperature extremes can be
a major problem. Seals prone
to leak. Air-borne oil can be a
problem.
Load holding selflocking if power fails. Fail-
safe brakes available for ball
screw models.
Complex back-up safety
devices must be used.
Complex back-up safety
devices must be used.
Cost Moderate initial cost, very low
operating cost.
Components often cost less,
but installation and
maintenance are increased.
Hydraulic power unit cost is
high if not pre-existing.
Components often cost less,
but installation and
maintenance are increased.
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 WHERE ?
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
Used for all Automation
Actuators are used everywhere there is automation
robot, conveyor system, etc.

Rotary Electric
Motor
Actuator
Linear
Actuator
Query ?
Thank You