4 Actuators

Addis Ababa University
Addis Ababa Institute of Technology

School of Mechanical & Industrial Engineering
Hydraulics and Pneumatics

Chapter Four
ACTUATORS
(Cylinder and Motor)
By Tadele Libay December, 2022

4.1 Introduction
Hydraulic 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 limited or continuous.
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AAiT School of Mechanical and Industrial Engineering - SMiE
4.2 Hydraulic Cylinders
Can be classified in two:
1. Single-acting
2. Double-acting
Single acting design is the simplest type of hydraulic
cylinder.
It can exert a force only in the extending direction.
Retraction is accomplished by gravity or spring.
The double acting type delivers force in both directions.
Extension and retraction are by hydraulic means.
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4.3 Hydraulic Cylinder Cushions
Cushioning devices are provided in the ends of the
hydraulic cylinders or as separate units when loads
must be decelerated to prevent the excessive impact
that can occur.
Deceleration starts when the tapered plunger enters the

opening in the cap and restricts the exhaust flow.
During the last small portion of the stroke, the oil must
pass through an adjustable opening. For charging the
piston a check valve that allows free flow is
incorporated in the system.
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Cushioning cylinder
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4.4 Hydraulic Motors
4.4.1 Introduction
These are other classes of actuators that extract energy from
a fluid and convert it to mechanical energy.
Two types of motors
• Rotary actuators – limited rotation
• Hydraulic motor – continuous rotation
(gear, vane, and piston configuration)
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4.4.2 Limited Rotation Hydraulic Motors
A limited rotation hydraulic motor (also called oscillation

motor or rotary actuator) provides a specified degree of
rotation.
They are used extensively in industry for actuating
clamping devices, material handling, rotating cams for
braking mechanisms, dumping, positioning and turning
and many others.
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4.4.3 Continuous Rotation Actuators
These provide sustained rotation in either direction due to

application of torque by the pressurized fluid.
Hydraulic motors can rotate continuously and as such have the

same basic configuration as pumps.
However, instead of pushing on the fluid as pumps do, motors
are pushed on by the fluid.
There are three basic types of hydraulic motors:

gear, vane, and piston motors
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Gear Motors
A gear motor develops torque due to hydraulic pressure acting

on the surface of the gear teeth.
The direction of rotation can be reversed by reversing the

direction of flow.
Volumetric displacement is fixed.

The motor is not balanced with respect to pressure loads, thus
producing a large side load.
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Torque development by a gear motor
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Vane Motors
These develop torque by the hydraulic pressure acting on
the exposed surfaces of the vanes.
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Analysis of Torque capacity
For a single rotating vane

RR = outer radius of rotor shaft (m)
RV = outer radius of vane (m)
L = width of vane (m)
p = hydraulic pressure (Pa)
F = hydraulic force acting on vane (N)
A = surface area of vane in contact with oil (m 2)
T = torque capacity (N.m)
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Force on vane:
F = pA = p(RV - RR)L
Torque acting on the mean radius of the vane:
 RV  RR 
T  p( R V  R R ) L  
 2 
pL 2
 ( R V  R 2R )
2
The volumetric displacement can be approximated by
VD   ( R 2V  R 2L ) L
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• Substituting in the torque equation will give
pVD
T
2
The above equation shows that the torque can be
increased by increasing the pressure or the volumetric
displacement or both.
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Piston motors
Here we have, as in pumps, the in-line type and the bent

axis type.
The swash plate type can be of the variable displacement

type by varying the inclination angle of the swash plate.
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Motor displacement varies with swash plate angle
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Theoretical torque, power, and flow rate
This is for a frictionless operation. The expression

is given by
Theoretical power (W) = TT(N.m) x ω(rad/s)

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VD ( m / rev ) x p( Pa )
TT ( N.m) 
2
VD x p x 
Theoretical power (W) 
2
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Considering no leakage the theoretical volume flow rate will
be
QT(m3/s) = VD (m3/rev) x N(rev/s)
Hydraulic Motor Performance

This topic will deal with volumetric efficiency, considering
leakages, and mechanical efficiency which takes into
account the frictional losses. Finally the overall efficiency
which will involve both efficiencies will be discussed.
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Range of overall efficiencies:

Gear motors – 70 to 75 %
Vane motors – 75 to 85 %
Piston motors – 85 to 95 %
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Volumetric efficiency (ηv)- Inverse of that of the pump since

it uses more flow than it should theoretically due to
leakage. theoretica l flow  rate Q T
V   
actual flow  rate Qa
Mechanical Efficiency (ηm) – Since additional torque is

delivered to overcome friction, the actual torque delivered
is lower.
actual torque delivered by motor Ta
m  
theoretica l torque to be delivered by motor TT
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Actual power delivered by motor = Ta ω
Overall efficiency
This is given by the product of the two efficiencies.
ηo = ηv ηm
Ta  actual power delivered by motor
o   
p Qa actual power delivered to motor
Usual terms used are

Denominator-hydraulic power
Numerator-brake power
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4.4.4 Hydrostatic Transmission
A system consisting of a hydraulic pump, a hydraulic motor, and
appropriate valves and pipes can be used to provide adjustable
speed drives for many practical applications.
Such a system is called a hydrostatic transmission. A prime mover,

electric motor or gasoline engine will be required.
Applications in tractors, rollers, loaders, and lift trucks.
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Some of the advantages include:
• Infinitely variable speed and torque in either
direction and over the full speed and torque ranges
• Extremely high power-to-weight ratio
• Flexibility and simplicity of design
A power package unit with the circuit diagram is
shown below. This unit includes a bidirectional
variable flow pump driven by a motor and also a
bidirectional fixed displacement motor.
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Hydrostatic transmission system
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Addis Ababa University

Addis Ababa Institute of Technology

Hydraulics and Pneumatics

By Tadele Libay December, 2022

Hydraulic cylinders and motors form the hydraulic circuit

Deceleration starts when the tapered plunger enters the

A limited rotation hydraulic motor (also called oscillation

These provide sustained rotation in either direction due to

Hydraulic motors can rotate continuously and as such have the

There are three basic types of hydraulic motors:

A gear motor develops torque due to hydraulic pressure acting

The direction of rotation can be reversed by reversing the

Volumetric displacement is fixed.

For a single rotating vane

Here we have, as in pumps, the in-line type and the bent

The swash plate type can be of the variable displacement

This is for a frictionless operation. The expression

Theoretical power (W) = TT(N.m) x ω(rad/s)

Hydraulic Motor Performance

Range of overall efficiencies:

Volumetric efficiency (ηv)- Inverse of that of the pump since

Mechanical Efficiency (ηm) – Since additional torque is

Usual terms used are

Such a system is called a hydrostatic transmission. A prime mover,

Applications in tractors, rollers, loaders, and lift trucks.

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