LOGICAL ACTUATORS

Chapter 2
◦The actuator is the part that produces the actions.
◦The actuator is composed of a driver and an
assembly of joints and links.
◦The driver provides the required force or torque used
to move the links connected by joints.
◦Drivers can be considered as electric, hydraulic, or
pneumatic.
◦ Electric actuators are motors or solenoids that
convert electrical energy into a mechanical output.
◦Hydraulic and pneumatic systems operate using fluid
pressure compressed on pistons, cylinders, vanes, or
lobes.
◦These systems, in their most basic concept, can be
considered electric as well since the fluid is controlled
by the opening and closing of solenoid valves.
ACTUATORS
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Actuators are the components that provide force or torque

to create movement. These are attached to the links and
joints through tendons, gears, chains, cams, or shafts to
form the main actuation system. They are classified as
electric, hydraulic, and pneumatic.
Electric Actuators: 
◦ Electric actuators are the most widely used actuators for industrial robots.
◦ The most common type of electric actuator is a servo motor energized by a DC
power supply.
◦ The rotational movement of the motor can be converted into linear action by
various mechanical transmission systems such as belts, cables, and chains.
◦ Electric actuators that create direct linear motion also exist in the form of linear
motors and solenoids.
◦ The main types of electric actuators are summarized below:
Different Solenoid Valve
Circuit Functions
◦ Solenoid valves are also characterized by its flow path or circuit function.
Solenoid valves can open, close, distribute or mix fluids as expressed by
this category. To better understand solenoid circuit functions, one must
first take a look at the standardized solenoid valve symbols.
◦ ISO, or the International Organization for Standardization, is a
worldwide federation of standardization bodies. In collaboration with
the IEC (International Electrotechnical Commission), they created a
standard of symbols and rules for devising fluid power symbols for use
on components and in circuit diagrams. This standard is ISO 1219.
◦ In the symbol above, the green boxes represent the number of positions
of the valve. The arrows, on the other hand, indicates the direction of
flow. The blue arrow means pressurized flow, while the red means
exhaust. The purple T-lines are the closed ports.
The following are the common types of solenoid valves according to
circuit function.

◦ Two-way Solenoid Valves

◦ This type of solenoid valve has one upstream and one downstream
port and is used to block or allow fluid flow. The solenoid valve can be
configured as normally open and normally closed; normal state
means the de-energized state. A normally open valve opens when de-
energized and closes when energized. The opposite is true for
normally closed valves.
Port and position of
directional control valve
◦ Port and position of directional control valve.
◦ Today's lesson is all about all about understanding
the directional control valve port and position.
◦ What is directional control valve port and position and
how many port and position stay in a single valve
What is directional valve port/way?

◦ Way is the number of ports that is connected to the valve body in one position.
◦ Total number of flow path in a single position is called the port.
◦ Two way that means two port in a single position.
◦ Three way that means three port in a single position same as four way for four port in a single
position.
What is directional valve position?

• The movement area of the spool is the position of the valve. The spool can stop in multiple position inside the valve
and it depends on the actuated and de-actuated of the coils. When coil actuated then the spool moves and it
changes his current position to another position.Basic hydraulic system Components of hydraulic system Hydraulic
systems components
2/2-Way directional control valve. (Normally open/Normally closed)- 2 Position 2 Way
• 3/2-Way directional control valve. (Normally open/Normally closed)- 2 Position 3 Way
• 4/2-Way directional control valve. 2 Position 4 way
• 4/3-Way directional control valve. 3 position 4 way
• 5/2-Way directional control valve. 2 Position 5 way. (For pneumatic valve)
• 5/3-Way directional control valve. 3 Position 5 way. (For pneumatic valve)
FOR NORMALLY
OPEN
2-way valve has two port one of
them is inlet and other one is outlet.
For normally open position the
pressure port and line port is open in
resulting flow can passes through the
valve.
When coil is Energized/push switch
is pressed then pressure port is
closed and flow can't pass through
the valve.
For normally
close

This valve has also two

port one is Inlet and
other one is outlet.
For normally close
position the pressure
port is open but line port
is closed in resulting flow
can't passes through the
valve.
When coil is
Energized push switch is
pressed then the line port
is opened and flow can
pass through the valve.
MOTOR ELECTRIC
◦ Electric motors are the backbone of modern
automation.
◦ Motors convert electrical energy into mechanical
energy, and the resulting motion and torque drive
a load.
◦ A simple DC motor has a stationary set of magnets
in the stator and an armature with one or more
windings of insulated wire wrapped around a soft
iron core
Servo motors: 
◦ This type of electric actuator operates through a closed-
loop or feedback system which processes an output
signal to control its position, velocity, and acceleration.
◦ The motors used in the servomechanism can be a
brushed DC motor, brushless DC motor, AC motors, and
even linear motors.
◦ The servomechanism has a sensor, transducer, or
potentiometer called an encoder that measures the
position and speed of the motor and converts it into an
electronic signal.
◦ The signal, either digital or analog, is fed to an amplifier
and controller which then alters the voltage or
frequency of the electric power supplied to the motor.
Stepper Motors: 
◦ Unlike the servomotor, stepper motors do not need a feedback loop.
◦ They operate through the continuous energization and de-
energization of stator poles that pull the poles of the rotor.
◦ The stator has poles energized separately to pull the rotor poles and
create a stepping or indexing rotation.
◦ The rotor is made of laminated ferromagnetic material with a
different number of poles than the stator.
◦ The difference in the number of poles of the rotor and the stator
allows only one set or pair of poles to be attracted at a time.
◦ A controller and amplifier power the poles according to the
programmed speed of the motor.
◦ Stepper motors are simpler than servo motors but are less powerful.
◦ If the load is exceeded, the motor can slip.
◦ Since there is no built-in feedback loop, there is no way to correct
the deviation.
Pneumatic
Actuators: 
◦ Pneumatic actuators operate using compressed air
typically at pressures around 6 to 10 bars.
◦ The flow of compressed air is controlled by solenoid
valves.
◦ The most common types of pneumatic actuators are
cylinders or rams.
◦ A pneumatic cylinder has a piston that extends or
retracts upon the application of pressure inside the
cylinder.
◦ One side of the piston is connected to a rod which
couples to the robot arm.
◦ Other methods of coupling are also possible such as
cables and magnets.
◦ The amount of force generated depends on the
pressure and the effective area of the piston.
◦ Pneumatic cylinders can be single-acting or double-acting. A single-acting cylinder has only one inlet port in
which the compressed air pushes the piston in one direction only. The return stroke is achieved by an
external force such as spring force or gravity. On the other hand, a double-acting cylinder has two ports on
both ends of the cylinder that acts as both inlet and exhaust ports. Compressed air is supplied on one end
and is released on the other. This allows the piston to move and exert force in both directions. A less
common type of pneumatic cylinder is a telescoping cylinder which is composed of nested shells that extend
when compressed air is introduced. Telescoping cylinders can be single or double-acting.
◦ For creating rotary motion using compressed air, pneumatic motors are used. Common pneumatic motors
are rotary vanes and turbines. Rotary vanes operate through the positive displacement of air as it passes the
rotor. Turbines create rotation using the kinetic energy of the passing air. Aside from pneumatic cylinders
and motors, other types of pneumatic actuators exist such as tubes, bellows, and diaphragms. Though
different in construction, they function the same way as cylinders and motors.
Hydraulic
Actuators: 
◦ Hydraulic actuators operate the same way as pneumatic
actuators.
◦ The only differences are the magnitude of force created,
the robustness of construction, its fluid circuit, and the
ability to be servo-controlled.
◦ Hydraulic actuators can exert very large forces suited for
carrying heavy payloads.
◦ This can be attributed to the incompressibility of hydraulic
fluids or oil.
◦ Pressures can go as high as 130 bars. Because of the high
pressures involved, hydraulic actuators are constructed
with very thick and rigid metals.
◦ The rams and pistons are surface treated and sealed to
prevent any fluid leakage.
◦ Pneumatic circuits are typically open where the air is not recirculated within the system. In hydraulic circuits,
the fluid is returned to the pumping unit where oil is filtered and cooled before recirculation. When
compressed at very high pressures, the fluid tends to heat up which can accelerate its degradation.
◦ Another desirable characteristic of hydraulic actuators is their ability to be servo-controlled. Pneumatic
cylinders are only capable of fully extending or retracting. Hydraulic cylinders, on the other hand, are capable
of being servo-controlled in which their extension length and speed can be precisely controlled.
Conclusion:

• An automation system is an integration of sensors, controls, and actuators designed to perform a function
with minimal or no human intervention.
• Adapting an automation system will produce substantial benefits on profit, production rate, safety, and
quality. The higher initial cost of adapting automation systems is usually offset by these benefits.
• An automation system consists of a device capable of receiving input (sensor, human-machine interface,
etc.), a computing system (processor), and the manipulators that perform the actual work (actuator).
• An arm is an assembly of links and joints that have a fixed range of motion. They can be Cartesian, polar,
cylindrical, SCARA, and articulated.
• End-of-arm-tools (EOATs), also known as end effectors, is the tool or operator designed to interact with the
product or process.
• Actuators are the components that provide force or torque to create movement. They are classified as
electric, hydraulic, and pneumatic.
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