Executive Programme in
ROBOTICS
BATCH 1
7th J u n e 2025
Robotic Drive
systems- Hydraulic
and Pneumatic
Actuators
Nandan Dasgupta
EXECUTIVE PROGRAMME IN ROBOTICS
Actuator Applications in Automation and Robotics
An actuator is a device that makes something move or operate.
What is an Actuator?
Robotic actuators are the "muscles" of a robot.
Characteristics Of An Actuator
• Load
• Speed
• Accuracy
• Resolution
• Repeatability
• Reliability
• Power consumption
• Energy supply & its weight.
Examples of Actuators
There are 3 sources of energy used by an actuator to produce the physical-mechanical motion.
– Pneumatic actuators.
– Hydraulic actuators.
– Electric actuators.
How many Actuators in this Robot?
Everyday Examples: Grocery Store Door
Everyday Examples: Car Seat
Types of Actuators
Move something in a straight line.
Types of Actuators
Move something in a circular motion.
What Makes an Actuator Move?
Actuator system
Pp : Primary source of power (Electric, Press.
Fluid, compress. Air)
Pc : Input control power usually electric .
POWER Pa : Input power to motor Electric, Hydraulic, or
(Electric/Fluid/Air) Pneumatic.
Pm : Power output from motor.
Pu : Mechanical power required
PP
POWER Pu
Pc Pa SERVO MOTOR/ Pm
PLC / CONTROL AMPLIFIER/
HYDRAULIC TRANSMISSION
ELECTRONICS VFD/SERVO
MOTOR/COMPRESSOR
DRIVE
Pda Pds Pdt
Pds, Pdt , Pda : Powers lost in dissipation for the conversion
performed by the Amplifier, Motor, Transmission
Actuator system - Electric
Pp : Primary source of power (Electric, Press.
Fluid, compress. Air)
Pc : Input control power usually electric .
POWER Pa : Input power to motor Electric, Hydraulic, or
(Electric/Fluid/Air) Pneumatic.
Pm : Power output from motor.
Pu : Mechanical power required
PP
POWER Pu
Pc Pa SERVO MOTOR/ Pm
PLC / CONTROL AMPLIFIER/
HYDRAULIC TRANSMISSION
ELECTRONICS VFD/SERVO
MOTOR/COMPRESSOR
DRIVE
Actuator system - Hydraulic
Pp : Primary source of power (Electric, Press.
Fluid, compress. Air)
Pc : Input control power usually electric .
POWER Pa : Input power to motor Electric, Hydraulic, or
(Electric/Fluid/Air) Pneumatic.
Pm : Power output from motor.
Pu : Mechanical power required
PP
POWER Pu
Pc Pa SERVO MOTOR/ Pm
PLC / CONTROL AMPLIFIER/
HYDRAULIC TRANSMISSION
ELECTRONICS VFD/SERVO
MOTOR/COMPRESSOR
DRIVE
Hydraulic Transmission
Hydraulic systems typically High force capability
operate at 1000 to 5000 lb/sq in.
High dynamic response
The hydraulic drive systems are
completely meant for the large – Assisted braking torque
sized robots. Good mechanical stiffness
It can deliver high power or
High power per unit weight
speed than the electric drive
systems
and volume
This drive system can be used
for both linear and rotational
joints.
The rotary motions are provided
by the rotary vane actuators ,
while the linear motions are
produced by hydraulic pistons.
Advantages and Disadvantages
Advantages Disadvantages
Hydraulic system uses incompressible fluid which The material of storage tank, piping, cylinder, and
results in higher efficiency. piston can be corroded with the hydraulic fluid.
Therefore, one must be careful while selecting
materials and hydraulic fluid.
Delivers consistent power o/p which is difficult in
The structural weight and size of the system is more
pneumatic/mechanical drive systems.
which makes it unsuitable for the smaller instruments.
The small impurities in the hydraulic fluid can
Hydraulic systems employ high-density incompressible permanently damage the complete system, therefore
fluid. Possibility of leakage is less in a hydraulic system one should be careful and suitable filter must be
as compared to that in a pneumatic system. The installed.
maintenance cost is less.
The leakage of hydraulic fluid is also a critical issue
and suitable prevention method and seals must be
adopted.
These systems perform well in hot environmental
conditions. The hydraulic fluids, if not disposed of properly, can be
harmful to the environment.
Actuator system - Pneumatic
Pp : Primary source of power (Electric, Press.
Fluid, compress. Air)
Pc : Input control power usually electric .
POWER Pa : Input power to motor Electric, Hydraulic, or
(Electric/Fluid/Air) Pneumatic.
Pm : Power output from motor.
Pu : Mechanical power required
PP
POWER Pu
Pc Pa SERVO MOTOR/ Pm
PLC / CONTROL AMPLIFIER/
HYDRAULIC TRANSMISSION
ELECTRONICS VFD/SERVO
MOTOR/COMPRESSOR
DRIVE
Pneumatic Transmission
Pneumatic systems typically Compressed air has most of the
operate at about 100lb/sq. in desired properties and
characteristics of a gas for
The pneumatic drive systems
pneumatic system.
are especially used for the small
type robots have less than five It is not poisonous and non-
degrees of freedom flammable
It has the ability to offer fine
accuracy and speed
This drive system can produce
rotary movements by actuating
the rotary actuators
The translational movements of
sliding joints can also be
provided by operating the piston
Advantages and Disadvantages
Advantages Disadvantages
Good accuracy Difficult to control
Excellent speed Air needs preconditioning
Easy installation Precision is less than electric drives
Small leakage can be tolerated More vibration is generated
Economical than hydraulic drives More noise is produced
Comparison of actuating systems
Hydraulic Electric Pneumatic
+ Good for large robots + Good for all size of + Many components are
and heavy payload Robots usually off-the-shelf
+Highest Power/Weight +Better control, good for +Reliable components.
Ratio high precision robots
+Stiff system, High +Higher Compliance that +No leaks or sparks
accuracy, better response Hydraulics
+Inexpensive and simple
+No reduction gear +Reduction gears used
needed reduce inertia on the
+Can work in wide range motor +Low pressure compared
of speeds without to hydraulics
+does not leak, good for
difficulty
clean room + Good for on-off
+Can be left in position applications and for pick
+Reliable, low
without any damage and place
maintenance
Comparison of actuating systems
Hydraulic Electric Pneumatic
- May leak. Not fit for clean +Can be spark-free. Good for +Complaint systems.
room application explosive environment.
-Requires pump, reservoir, -Low stiffness -Noisy systems.
motor, hoses etc.
-Can be expensive and -Needs reduction gears, - Require air pressure, filter,
noisy, increased backlash, cost, etc.
requires maintenance. weight, etc. -Difficult to control their
-Viscosity of oil changes -Motor needs braking device linear position
with
when not powered.
temperature -Deform under load
Otherwise, the arm will fail.
-Very susceptible to dirt and
constantly
other foreign material in oil
-Very low stiffness. Inaccurate
response.
-Low compliance
Any Questions?
