Addis Ababa Science and Technology
University
Mechanical Engineering Dep.
Fluid Power Systems
CHAPTER 5
ACTUATORS
By: Nebyat Y.
Jan. 2022
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Contents
5.1 Introduction
5.2 Cylinders
5.2.1 Cylinder loading
5.2.2 Cylinder force, velocity and power
5.2.3 Cylinder loading through mechanical
linkage
5.2.4 Hydraulic cylinder cushions
5.2.5 Hydraulic shock absorbers
5.3 Motors
5.3.1 Limited rotation hydraulic motor
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5.3.2 Continuous rotation actuators
5.3.3 Theoretical torque, power and flow rate
5.3.4 Hydraulic motor performance
5.3.5 Motor efficiencies
5.4 Hydrostatic transmission
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5.1 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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Actuator classification is given in New folder\1.pptx
5.2 Cylinders
Single acting design is the simplest type of
hydraulic cylinder, shown in fig 2. 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. Fig 3 shows the design of a double acting
hydraulic cylinder. Piston has U-cup packings for
sealing. Ports are located in the end caps secured to
the barrel by tie rods.
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5.2.1 Cylinder loading
❖Vertical loading – load on cylinder is the weight of
the object.
❖Sliding an object along a horizontal surface- the
load is to overcome frictional force.
❖ Lifting a weight in an inclined direction-the
cylinder load equals the component of the object’s
weight acting along the axis of the cylinder, plus the
frictional force if the object is sliding along an
inclined surface.
❖ Acceleration-additional force the cylinder must
generate to get the load from initial velocity of zero
to the final steady state velocity.
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5.2.2 Cylinder force, velocity and power
The output force(F) and piston velocity (v) of double
acting cylinders are not the same for extension and
retraction strokes.
During extension stroke, fluid enters the blank end
of the cylinder through the entire circular area of the
piston (Ap).
However, during retraction stroke, fluid enters the
rod end through the smaller annular area between the
rod and the cylinder bore (Ap - Ar).
Where Ap – piston area
Ar – rod area
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Therefore,
Extension stroke :
Fext ( N ) = p (Pa ) Ap m ( )
2
3
Qin (m / s)
vext (m / s) = 2
Ap (m )
Retraction stroke :
Fret ( N ) = p (Pa ) ( Ap − Ar ) m 2
3
Qin (m / s)
vret (m / s) =
( Ap − Ar ) m 2
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5.2.3 Cylinder loadings through mechanical
linkages
In many applications the force the cylinder must
handle does not act along the axis of the cylinder –
the load and the cylinder force are not equal. The two
forces will interact through linkages.
There are different types of linkages as shown in
fig 4 which basically transform a linear motion into
either an oscillating or rotary motion. In addition,
linkages can also be employed to increase or decrease
the effective leverage and stroke of a cylinder.
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Analysis on how to determine the hydraulic
cylinder force required in a linkage will be attempted
on first-class, second-class and third-class systems.
A similar analysis can be made for the other types of
linkages.
First-Class Lever System
In this arrangement the lever fixed-hinge pin is
located between the cylinder and the load rod pins
fig 5 Equality of moments (only for vertical force)
will result in
Fcyl(L1 cos θ) = Fload (L2 cos θ)
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This will give
Fcyl = (L2/L1) Fload
But as shown in the figure the cylinder is mounted
to allow the rod-pinned end travel along a circular
path of radius L2 about its fixed-hinge pin. If the
cylinder is offset by an angle φ from the vertical, the
equation will change to
Fcyl(L1 cos θ . cos φ) = Fload (L2 cos θ)
which will give
Fcyl = [L2/(L1 cos φ)]Fload
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Second-Class Lever System
It is characterized by the load rod pin being
located between the fixed-hinge pin and cylinder rod
pin of the lever fig 6.
Equating the moments about the fixed-hinge will give
Fcyl cos φ (L1 + L2) cos θ = Fload (L2 cos θ)
Or
L2
Fcyl = Fload
( L1 + L2 ) cos
Compared to the first-class lever this requires less
cylinder force (less piston area), also smaller load
stroke for a given cylinder stroke. 16
Third-Class Lever System
Here the cylinder rod pin lies between the load
rod pin and fixed-hinge pin of the lever fig 7
Again equating moments about the fixed-hinge
pin will give
Fcyl cos φ (L2 cos θ) = Fload (L1 + L2) cos θ
or
L1 + L2
Fcyl = Fload
L2 cos
Cylinder force is greater than the load force
(requires large piston area). Required where the load
stroke must be greater than the cylinder stroke.
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A good example of an industrial machine using
cylinder loadings through linkages is the excavator
shown in fig 8. There are a total of four cylinders to
drive the three pin-connected members called the
boom, stick, and bucket.
Observe that the two cylinders on the boom act
like third-class lever system. For the others the
hinges are also moving. To determine the loads on
each cylinder, it is necessary to understand the
mechanism of the linkages and make a force analysis
by incorporating the given external load applied on
the bucket.
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5.2.4 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. Fig 9 shows the cross-section of the
piston near the end cap.
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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Deceleration of the load from initial steady velocity of
V through a distance of S load is given by
a = V2/2S and the deceleration force is given by
Newton’s second law
ΣF = ma (m = mass of load)
(care must be taken for the consistency of units)
5.2.5 Hydraulic shock absorbers
This is a device that brings a moving load to a
gentle rest through the use of metered hydraulic fluid.
It is the metering device that brings about a uniform
gentle deceleration.
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The shock absorbers shown in fig 10 are completely
filled with oil. The springs serve for return.
The shock absorbers are multiple-orifice hydraulic
devices. The orifices are simply holes through which
a fluid can flow.
The resistance to the oil flow caused by the holes
(restrictions) creates a pressure that acts against the
piston to oppose the moving load. Fig 11. The piston
progressively shuts off these orifices as 11the piston
and rod move inward. This results in the load
decelerating uniformly.
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The rubber or dash pot uses a single orifice and has
a high peak force at the beginning and the resistance
is sharply reduced during the remainder of the
stopping distance.
➢ Compression springs have a low initial stopping
force and build to a peak at the end of the stroke.
When the load is removed the spring bounces back.
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5.3 Motors
These are other classes of actuators that extract
energy from a fluid and convert it to mechanical
energy.
Two types of motors:
• Rotary actuators or oscillation motor– limited
rotation
• Hydraulic motor – continuous rotation
(gear, vane, and piston configuration)
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5.3.1 Limited rotation hydraulic motors
It can rotate clockwise or counterclockwise but
through less than one complete revolution.
They are used extensively in industry for actuating
clamping devices, material handling, rotating cams
for braking mechanisms and many others. Fig 12
shows a few of the operations that require limited
rotations.
fig 13 shows means of a restricted achieving rotary
motion.
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5.3.2 Continuous rotation actuators
These provide sustained rotation in either direction
due to application of torque by the pressurized fluid.
There are three basic types of hydraulic motors:
gear, vane, and piston
a) Gear Motors
A gear motor develops torque due to hydraulic
pressure acting on the surface of the gear teeth as
shown in fig 14. 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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They are normally limited to 130 bar pressure with
operating speed of 2400 rpm and a maximum flow
capacity of 570 l/m. Also available are internal gear,
ge rotor, and screw type designs.
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b)Vane Motors
These develop torque by the hydraulic pressure
acting on the exposed surfaces of the vanes. As there
is no centrifugal force until the rotor starts to revolve
they will need the help of springs for sealing. The
operation is shown in fig 15 and the spring loading is
shown in fig 16. These operate at 170 bar with speeds
up to 4000 rpm and a maximum flow of 950 l/m.
By in large vane motors are of the balanced type
shown in fig 17
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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 (m2)
T = torque capacity (N.m)
Force on vane:
F = pA = p(RV - RR)L 28
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
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.
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c) Piston motors
Here we have, as in pumps, the in-line type and the
bent axis type fig 19
The tangential component (F2) of the piston force (F)
acts on the swash plate to initiate rotation. This
imparts rotary motion to the piston group, cylinder
block, and output shaft.
The swash plate type can be of the variable
displacement type by varying the inclination angle of
the swash plate.
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Piston motors are the most efficient of the three.
Operating speeds of 12000 rpm, pressures of 340 bar
and flow rate of 1700 l/m (large piston motors)can be
achieved.
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5.3.3 Theoretical torque, power, and flow rate
This is for a frictionless operation. The expression
is given by V ( m3 / rev) x p( Pa)
TT ( N.m) = D
2
Theoretical power (W) = TT(N.m) x ω(rad/s)
VD x p x
=
2
Considering no leakage the theoretical volume
flow rate will be:
QT(m3/s) = VD (m3/rev) x N(rev/s)
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5.3.4 Motor efficiencies
Volumetric efficiency (ηv)- Inverse of that of the
pump since it uses more flow than it should
theoretically due to leakage.
theoretical flow − rate Q T
V = =
actual flow − rate Q a
Mechanical efficiency (ηm) – Since additional
torque is delivered to overcome friction, the actual
torque delivered is lower.
actual torque delivered by motor Ta
m = =
theoretical torque to be delivered by motor TT
Actual power delivered by motor = Ta ω 33
Overall efficiency
This is given by the product of the two
efficiencies.
actual power delivered by motor
ηo = ηv ηm =
actual power delivered to motor
Ta
o =
p Qa
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5.3.5 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 is discussed.
Range of overall efficiencies:
Gear motors – 70 to 75 %
Vane motors – 75 to 85 %
Piston motors – 85 to 95 %
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5.4 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. Essentially
it converts a unidirectional variable speed shaft input
to a bidirectional variable speed output.
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
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Thank you!!!
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