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Robotics Sensors and Actuators

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Module 4: Robotic actuators

  1. Q1h. In which type of system does power transmission take place through compressed air? (i) Fluid power system (ii) Pneumatic system (iii) Hydraulic system (iv) Stepper motors20242m

    Module 4: Robotic actuators

    In which type of system does power transmission take place through compressed air?
    (i) Fluid power system
    (ii) Pneumatic system
    (iii) Hydraulic system
    (iv) Stepper motors

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    Worked Solution

    Answer

    Correct Option: (ii) Pneumatic system (also (i) Fluid power system is broader)

    Explanation

    • Pneumatic: Uses compressed air (pneuma = air) for power transmission. Clean, fast, low force.
    • Hydraulic: Uses pressurized liquid (oil).
    • Fluid power system: Umbrella term for both pneumatic + hydraulic. Pneumatic is the specific air-based subset.
    • Stepper motors: Electrical.

    If exam expects broad category, (i) Fluid power is also true, but (ii) Pneumatic is precise for air.

    Final Answer

    Compressed air → Pneumatic → Option (ii) (fluid power is generic).

  2. Q5a. Write Hydraulic actuators: operating principle, advantage and disadvantage.20247m

    Module 4: Robotic actuators

    Write Hydraulic actuators: operating principle, advantage and disadvantage.

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    Answer

    Hydraulic Actuator

    Operating Principle: Pascal's law P=F/AP=F/A. Pressurized oil (50–300 bar) from pump → valve → cylinder/piston → linear/rotary motion. Force F=P⋅AF=P\cdot A, flow Q=A⋅vQ=A\cdot v.

    Components: Reservoir, pump, relief valve, directional control valve, cylinder, piston, filter.

    Advantages

    • High force/power density (tons).
    • High stiffness, good for heavy loads.
    • Smooth, precise with servo valve.
    • Self-lubricating.

    Disadvantages

    • Leakage, oil contamination, fire hazard.
    • Need power pack, bulky, noisy.
    • Slow response vs electric, temperature sensitive.
    • Maintenance high.

    Applications

    • Excavator, press, industrial robot heavy payload.

    Final Answer

    Hydraulic = Pascal F=PAF=PA via oil pressure, advantages high force, disadvantages leakage and bulk.

  3. Q5b. Compare hydraulic, Pneumatics and Electric Actuator.20247m

    Module 4: Robotic actuators

    Compare hydraulic, Pneumatics and Electric Actuator.

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    Answer

    Comparison

    Feature Hydraulic Pneumatic Electric (Motor)
    Medium Oil 50–300 bar Compressed air 5–10 bar Current
    Force Very high (tons) Low–medium Medium (gearing)
    Speed Medium Fast Variable, precise
    Stiffness High Low (compressible) High with servo
    Precision High with servo Low Very high
    Cleanliness Leakage, messy Clean Clean
    Cost/Maintenance High (pump, filters) Low Medium
    Power density Highest Low Medium
    Control Servo valve On/off, proportional Servo driver

    Advantages/Disadvantages Summary

    • Hydraulic: Heavy load, but leakage and bulk.
    • Pneumatic: Fast, cheap, clean, but low force and noisy.
    • Electric: Precise, clean, easy control, but limited force without gearbox.

    Applications

    • Hydraulic: Excavator, press.
    • Pneumatic: Pick-place, gripper, door.
    • Electric: Robotic joints, CNC, drones.

    Final Answer

    Hydraulic high force, pneumatic fast cheap, electric precise clean; choose per load/speed/precision.

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