actuators ght
TRANSCRIPT
10/6/0410/6/04
#lectrical#lectrical $c and dc motors $c and dc motors
Stepper motorsStepper motors
solenoidssolenoids
%ydra"lic%ydra"lic Use hydra"lic &"id to act"ate motionUse hydra"lic &"id to act"ate motion
Current State ofCurrent State of
Actuators Actuators $ll three types o! act"ators are in "se $ll three types o! act"ators are in "se
todaytoday
#lectric act"ators are the type most#lectric act"ators are the type most
commonly "sedcommonly "sed
%ydra"lic and pne"matic systems allo'%ydra"lic and pne"matic systems allo'
!or increased !orce and tor("e !rom!or increased !orce and tor("e !rom
smaller motorsmaller motor
$ct"ators are "sed every'here there $ct"ators are "sed every'here there
is a"tomationis a"tomation ro*ot+ conveyor system+ etc)ro*ot+ conveyor system+ etc)
otary #lectric ,otor $ct"ator
Where Used Where Used
#lectric motors "sed !or hi.h precision#lectric motors "sed !or hi.h precision Precise ro*ot applications s"ch as a"tomotive andPrecise ro*ot applications s"ch as a"tomotive and
pharmace"ticalpharmace"tical
o' "p to 10+000 l*! o' "p to 10+000 l*!
%ydra"lic act"ators "sed !or increased tor("e%ydra"lic act"ators "sed !or increased tor("e %i.h !orce and tor("e applications "p to +000 l*! %i.h !orce and tor("e applications "p to +000 l*!
%i.h precision achieva*le%i.h precision achieva*le
Pne"matic act"ators are "sed !or lo'er costPne"matic act"ators are "sed !or lo'er cost
and lo'er precision applicationsand lo'er precision applications
Specications – ElectricSpecications – Electric
MotorsMotors $C #lectric ,otor price ran.e $C #lectric ,otor price ran.e
2100 to 23+1002100 to 23+100
%P to 100 %P %P to 100 %P
15l*s to 145l*s15l*s to 145l*s
100 rpm100 rpm
10 to 0 inp"t volta.e10 to 0 inp"t volta.e
HydraulicHydraulic hi.h !orce7density+ precise control+ and lon. operatin.hi.h !orce7density+ precise control+ and lon. operatin.
li!eli!e
Thr"sts !rom 800 to +000 po"nds !orce 9 +800 psiThr"sts !rom 800 to +000 po"nds !orce 9 +800 psi
Stroe len.ths ran.in. !rom !ractions o! an inch to 40Stroe len.ths ran.in. !rom !ractions o! an inch to 40
inchesinches
Can provide "p to 44+000 l*)ins tor("e+ and areCan provide "p to 44+000 l*)ins tor("e+ and are
typically "sed as valve act"ators in the rotary act"atortypically "sed as valve act"ators in the rotary act"ator
!ormat!ormat
linear act"ator travel is !rom 0)008 to 6 inches perlinear act"ator travel is !rom 0)008 to 6 inches per
secondsecond
esol"tion can *e as ;ne as 0)00 inches acc"racyesol"tion can *e as ;ne as 0)00 inches acc"racy
'ith 100< repeata*ility'ith 100< repeata*ilityM125 Actuator Diameter Weight Stroke Force Rod End Motor
operating Range Price
2" o 1!2" 2# $%& 2A 'hread
12 ()*
Hydraulic ControlledHydraulic Controlled
Arm Arm ,arvin ,insy developed the Tentacle,arvin ,insy developed the Tentacle
$rm+ 'hich moved lie an octop"s) =t had $rm+ 'hich moved lie an octop"s) =t had
t'elve >oints desi.ned to reach aro"ndt'elve >oints desi.ned to reach aro"nd
o*stacles) $ P?P76 comp"ter controlledo*stacles) $ P?P76 comp"ter controlled
the arm+ po'ered *y hydra"lic &"ids)the arm+ po'ered *y hydra"lic &"ids)
,o"nted on a 'all+ it co"ld li!t the 'ei.ht,o"nted on a 'all+ it co"ld li!t the 'ei.ht
o! a persono! a person
Supporting EuipmentSupporting Euipment
$mpli;er or driver Unit $mpli;er or driver Unit $mpli!y electric po'er comin. !rom $mpli!y electric po'er comin. !rom
controllercontroller
#ncoder#ncoder =denti!y location o! motor=denti!y location o! motor
@ripper+ conveyor+ rollers+ or other@ripper+ conveyor+ rollers+ or other
act"ation devicesact"ation devices
Standards Based on applicationStandards Based on application Cheap lo' ("ality act"atorsCheap lo' ("ality act"ators
#Apensive hi.h ("ality hi.h precisions#Apensive hi.h ("ality hi.h precisions
act"atorsact"ators
Position holdin. 'hen not movin.Position holdin. 'hen not movin.
$"tomation ?irect $"tomation ?irect
P%? =nc)P%? =nc)
Tec n ca #aper $ H gec n ca aper $ g
Torue to Weight %atioTorue to Weight %atio
%o&ot Actuator %o&ot Actuator %ydrostatic system%ydrostatic system
$dvanta.es: %i.h $dvanta.es: %i.h
acc"rate tor("eacc"rate tor("e
acco"nted !oracco"nted !or
'ynamics'ynamics ,odel o! the motor dynamics,odel o! the motor dynamics
TTpp tor("e !rom motor 'indin.s tor("e !rom motor 'indin.s
( &"id &o' rate( &"id &o' rate
θ =θ = an."lar displacementan."lar displacement
? (/? (/θθ
* coeDicient o! visco"s !riction* coeDicient o! visco"s !riction
TTss Co"lom* !riction d"e to seals and *earin.s Co"lom* !riction d"e to seals and *earin.s
E inertia o! the co"pled p"mp and motor rotors E inertia o! the co"pled p"mp and motor rotors
FpFp11GpGpH Co"lom* !riction term+ increases linearly 'ithH Co"lom* !riction term+ increases linearly 'ith
press"repress"re
θ θ J p p f T b p DT
s p ))((
Achie(ements Achie(ements
Br"shless dc 6000 rpm motor 'as "sedBr"shless dc 6000 rpm motor 'as "sed
40 in7l* pea tor("e o"tp"t40 in7l* pea tor("e o"tp"t %ydra"lic transmission ratio 44)3:1%ydra"lic transmission ratio 44)3:1
Theoretical pea tor("e 15+ in7l*Theoretical pea tor("e 15+ in7l*
,aA o"tp"t speed 1)4 rpm,aA o"tp"t speed 1)4 rpm
$ct"al pea tor("e 300 in7l* d"e to $ct"al pea tor("e 300 in7l* d"e to
Class ApplicationClass Application
Ihat is the resol"tion o! the acIhat is the resol"tion o! the ac
motor 'ith 104 p"lses permotor 'ith 104 p"lses per
revol"tionrevol"tion
0)810)81oo/p"lse/p"lse
"ideo of %o&ot )eg "ideo of %o&ot )eg
*ends*ends ,ovement accomplished *y electric,ovement accomplished *y electric
motorsmotors Po'er transmitted to the >oints viaPo'er transmitted to the >oints via
ca*le drivesca*le drives
$ll diDerent types o! $ll diDerent types o!
$pplications $pplications eed .ood precision+ electrical act"atoreed .ood precision+ electrical act"ator
eed lar.e !orces+ hydra"lic act"atoreed lar.e !orces+ hydra"lic act"ator
-o' cost+ pne"matic act"ator-o' cost+ pne"matic act"ator ote: can .et hi.h precision eApensiveote: can .et hi.h precision eApensive
pne"matic act"atorspne"matic act"ators
''')comp"terhistory)or.''')comp"terhistory)or.
''')ai)mit)ed"/pro>ects/le.la*/ro*ots''')ai)mit)ed"/pro>ects/le.la*/ro*ots Bo*ro' and ?esai+ $ hi.h tor("e to 'ei.ht ratioBo*ro' and ?esai+ $ hi.h tor("e to 'ei.ht ratio
ro*ot act"ator+ o*otica 1558H vol"me 1+ pp) 017ro*ot act"ator+ o*otica 1558H vol"me 1+ pp) 017
#lectrical#lectrical $c and dc motors $c and dc motors
Stepper motorsStepper motors
solenoidssolenoids
%ydra"lic%ydra"lic Use hydra"lic &"id to act"ate motionUse hydra"lic &"id to act"ate motion
Current State ofCurrent State of
Actuators Actuators $ll three types o! act"ators are in "se $ll three types o! act"ators are in "se
todaytoday
#lectric act"ators are the type most#lectric act"ators are the type most
commonly "sedcommonly "sed
%ydra"lic and pne"matic systems allo'%ydra"lic and pne"matic systems allo'
!or increased !orce and tor("e !rom!or increased !orce and tor("e !rom
smaller motorsmaller motor
$ct"ators are "sed every'here there $ct"ators are "sed every'here there
is a"tomationis a"tomation ro*ot+ conveyor system+ etc)ro*ot+ conveyor system+ etc)
otary #lectric ,otor $ct"ator
Where Used Where Used
#lectric motors "sed !or hi.h precision#lectric motors "sed !or hi.h precision Precise ro*ot applications s"ch as a"tomotive andPrecise ro*ot applications s"ch as a"tomotive and
pharmace"ticalpharmace"tical
o' "p to 10+000 l*! o' "p to 10+000 l*!
%ydra"lic act"ators "sed !or increased tor("e%ydra"lic act"ators "sed !or increased tor("e %i.h !orce and tor("e applications "p to +000 l*! %i.h !orce and tor("e applications "p to +000 l*!
%i.h precision achieva*le%i.h precision achieva*le
Pne"matic act"ators are "sed !or lo'er costPne"matic act"ators are "sed !or lo'er cost
and lo'er precision applicationsand lo'er precision applications
Specications – ElectricSpecications – Electric
MotorsMotors $C #lectric ,otor price ran.e $C #lectric ,otor price ran.e
2100 to 23+1002100 to 23+100
%P to 100 %P %P to 100 %P
15l*s to 145l*s15l*s to 145l*s
100 rpm100 rpm
10 to 0 inp"t volta.e10 to 0 inp"t volta.e
HydraulicHydraulic hi.h !orce7density+ precise control+ and lon. operatin.hi.h !orce7density+ precise control+ and lon. operatin.
li!eli!e
Thr"sts !rom 800 to +000 po"nds !orce 9 +800 psiThr"sts !rom 800 to +000 po"nds !orce 9 +800 psi
Stroe len.ths ran.in. !rom !ractions o! an inch to 40Stroe len.ths ran.in. !rom !ractions o! an inch to 40
inchesinches
Can provide "p to 44+000 l*)ins tor("e+ and areCan provide "p to 44+000 l*)ins tor("e+ and are
typically "sed as valve act"ators in the rotary act"atortypically "sed as valve act"ators in the rotary act"ator
!ormat!ormat
linear act"ator travel is !rom 0)008 to 6 inches perlinear act"ator travel is !rom 0)008 to 6 inches per
secondsecond
esol"tion can *e as ;ne as 0)00 inches acc"racyesol"tion can *e as ;ne as 0)00 inches acc"racy
'ith 100< repeata*ility'ith 100< repeata*ilityM125 Actuator Diameter Weight Stroke Force Rod End Motor
operating Range Price
2" o 1!2" 2# $%& 2A 'hread
12 ()*
Hydraulic ControlledHydraulic Controlled
Arm Arm ,arvin ,insy developed the Tentacle,arvin ,insy developed the Tentacle
$rm+ 'hich moved lie an octop"s) =t had $rm+ 'hich moved lie an octop"s) =t had
t'elve >oints desi.ned to reach aro"ndt'elve >oints desi.ned to reach aro"nd
o*stacles) $ P?P76 comp"ter controlledo*stacles) $ P?P76 comp"ter controlled
the arm+ po'ered *y hydra"lic &"ids)the arm+ po'ered *y hydra"lic &"ids)
,o"nted on a 'all+ it co"ld li!t the 'ei.ht,o"nted on a 'all+ it co"ld li!t the 'ei.ht
o! a persono! a person
Supporting EuipmentSupporting Euipment
$mpli;er or driver Unit $mpli;er or driver Unit $mpli!y electric po'er comin. !rom $mpli!y electric po'er comin. !rom
controllercontroller
#ncoder#ncoder =denti!y location o! motor=denti!y location o! motor
@ripper+ conveyor+ rollers+ or other@ripper+ conveyor+ rollers+ or other
act"ation devicesact"ation devices
Standards Based on applicationStandards Based on application Cheap lo' ("ality act"atorsCheap lo' ("ality act"ators
#Apensive hi.h ("ality hi.h precisions#Apensive hi.h ("ality hi.h precisions
act"atorsact"ators
Position holdin. 'hen not movin.Position holdin. 'hen not movin.
$"tomation ?irect $"tomation ?irect
P%? =nc)P%? =nc)
Tec n ca #aper $ H gec n ca aper $ g
Torue to Weight %atioTorue to Weight %atio
%o&ot Actuator %o&ot Actuator %ydrostatic system%ydrostatic system
$dvanta.es: %i.h $dvanta.es: %i.h
acc"rate tor("eacc"rate tor("e
acco"nted !oracco"nted !or
'ynamics'ynamics ,odel o! the motor dynamics,odel o! the motor dynamics
TTpp tor("e !rom motor 'indin.s tor("e !rom motor 'indin.s
( &"id &o' rate( &"id &o' rate
θ =θ = an."lar displacementan."lar displacement
? (/? (/θθ
* coeDicient o! visco"s !riction* coeDicient o! visco"s !riction
TTss Co"lom* !riction d"e to seals and *earin.s Co"lom* !riction d"e to seals and *earin.s
E inertia o! the co"pled p"mp and motor rotors E inertia o! the co"pled p"mp and motor rotors
FpFp11GpGpH Co"lom* !riction term+ increases linearly 'ithH Co"lom* !riction term+ increases linearly 'ith
press"repress"re
θ θ J p p f T b p DT
s p ))((
Achie(ements Achie(ements
Br"shless dc 6000 rpm motor 'as "sedBr"shless dc 6000 rpm motor 'as "sed
40 in7l* pea tor("e o"tp"t40 in7l* pea tor("e o"tp"t %ydra"lic transmission ratio 44)3:1%ydra"lic transmission ratio 44)3:1
Theoretical pea tor("e 15+ in7l*Theoretical pea tor("e 15+ in7l*
,aA o"tp"t speed 1)4 rpm,aA o"tp"t speed 1)4 rpm
$ct"al pea tor("e 300 in7l* d"e to $ct"al pea tor("e 300 in7l* d"e to
Class ApplicationClass Application
Ihat is the resol"tion o! the acIhat is the resol"tion o! the ac
motor 'ith 104 p"lses permotor 'ith 104 p"lses per
revol"tionrevol"tion
0)810)81oo/p"lse/p"lse
"ideo of %o&ot )eg "ideo of %o&ot )eg
*ends*ends ,ovement accomplished *y electric,ovement accomplished *y electric
motorsmotors Po'er transmitted to the >oints viaPo'er transmitted to the >oints via
ca*le drivesca*le drives
$ll diDerent types o! $ll diDerent types o!
$pplications $pplications eed .ood precision+ electrical act"atoreed .ood precision+ electrical act"ator
eed lar.e !orces+ hydra"lic act"atoreed lar.e !orces+ hydra"lic act"ator
-o' cost+ pne"matic act"ator-o' cost+ pne"matic act"ator ote: can .et hi.h precision eApensiveote: can .et hi.h precision eApensive
pne"matic act"atorspne"matic act"ators
''')comp"terhistory)or.''')comp"terhistory)or.
''')ai)mit)ed"/pro>ects/le.la*/ro*ots''')ai)mit)ed"/pro>ects/le.la*/ro*ots Bo*ro' and ?esai+ $ hi.h tor("e to 'ei.ht ratioBo*ro' and ?esai+ $ hi.h tor("e to 'ei.ht ratio
ro*ot act"ator+ o*otica 1558H vol"me 1+ pp) 017ro*ot act"ator+ o*otica 1558H vol"me 1+ pp) 017