Version 1.0, August 31, 2001, Copyright, Hugh Jack 1993-2001

41.3 ACTUATORS

 

· There are a large number of power sources that may be used for robots.

 

· Typical actuators include,

  1. · Pneumatics
    1. - simple, low maintenance
    2. - light, least expensive
    3. - low payload
    4. - easy to find fault
    5. - hard to do continuous control
  2. · Hydraulic
    1. - large payload
    2. - high power/weight ratio
    3. - leakage
    4. - noisy
  3. · Electrical
    1. - feedback compatible
    2. - computer compatible
    3. - EOAT compatible
    4. - quiet, clean
    5. - low power/weight ratio

 

· Actuators lead to various payload capabilities as shown in the following list.

 

 

 

41.3.1 Modeling the Robot