HYDRAULIC AND

ROBOTIC ARMS
MEMBERS

• CSALCH GOETHE DELA CRUZ

• JOSEPH REFUERZO
• MARK ANGELO QUISUMBING
• ZERDEENIELLE SANTOS
HYDRAULICS

• Hydraulics is a technology and applied science using engineering, chemistry,

and other sciences involving the mechanical properties and use of liquids. At a
very basic level, hydraulics is the liquid counterpart of pneumatics, which
concerns gases.
 HYDRAULIC MACHINERY
• Hydraulic machines use liquid fluid power to perform work. Heavy
construction vehicles are a common example. In this type of
machine, hydraulic fluid is pumped to various hydraulic motors and hydraulic
cylinders throughout the machine and becomes pressurised according to the
resistance present.
EXAMPLES OF HYDRAULIC SYSTEM
• A hydraulic system will circulate incompressible hydraulic fluids from one part of the system
to another through tubes/pipes for generating power.  The hydraulic systems have many
advantages over others like electric and pneumatic. Some advantages of hydraulic systems are;
reduce the noise level of the system, pump backup availability, increases uptime of machines,
and high-pressure operations.
1. HYDRAULIC LIFTS

• Hydraulic lifts are used for moving goods or people vertically. Scissor lifts, two-post lifts, four-
post lifts, carousel lifts, and mezzanine lifts are different types of hydraulic lifts used.
Hydraulic lifts are used in automobile, shipping, waste removal, and construction applications.
Cables are not used with these lifts. So, it eliminates the risk of the dead-drop situation.
2. HYDRAULIC BRAKES
• Braking system of the vehicle is an important example of hydraulics. They are classified based on
frictional contact mechanism(drum brake and disk brake) and brake force distribution(single acting
and double acting).

• Hydraulic Brake System Components picture below

3. HYDRAULIC STEERING

• Hydraulic power steering is an important part of the vehicles that help to change the direction
of the vehicle to left or right. This system reduces the effort of drivers and absorbs road shocks.
Control valve, pinion gear, pressure/return lines, piston, and rack housing are the primary
components used for hydraulic power steering. 
4. HYDRAULIC JACKS
• Hydraulic jacks are stronger and can lift heavier loads. Bottle jacks and floor jacks are
classifications of hydraulic jacks. A hydraulic jack comprises of a cylinder and pumping system
for storing and transferring hydraulic fluid. The pumping system contains a hand-powered or
mechanically powered pump for applying pressure on the fluid.
5. HEAVY EQUIPMENT

• Hydraulics based heavy equipment will have more strength and ability to move quickly. Most
of the construction industry uses such equipment. Bulldozers, backhoes, log splitter, shovels,
loaders, forklifts, and cranes are some machinery used.  In backhoes and excavators, the
movement of the arm is based on hydraulics.
 6. AIRPLANES
• Hydraulics is applied in airplanes and jet planes in many instances like adjusting wings,
retraction and extension of landing gears, opening/closing of doors, brakes, steering, etc. The
operating pressure will vary from 200 psi to 5,000 psi depending on the hydraulic system. 
7. HYDRAULIC SHOCK ABSORBERS
• This is a device used to absorb and damp shock impulses. A cylinder with hydraulic oil and a
piston are the components used for developing shock absorber. The piston will move up and
down based on the compression and expansion of the string.
ANCIENT AND MEDIEVAL ERAS

• Early uses of water power date back to Mesopotamia and 

ancient Egypt, where irrigation has been used since the 6th
millennium BC and water clocks had been used since the
early 2nd millennium BC. 
PERSIAN EMPIRE

• In the Persian Empire, the Persians constructed an intricate

system of water mills, canals and dams known as
the Shushtar Historical Hydraulic System. The project,
commenced by Achaemenid king Darius the Great and
finished by a group of Roman engineers captured by
Sassanian king Shapur I
CHINA

• In ancient China there was Sunshu Ao (6th century BC), Ximen

Bao (5th century BC), Du Shi (circa 31 AD), Zhang Heng (78 – 139
AD), and Ma Jun (200 – 265 AD), while medieval China had Su
Song (1020 – 1101 AD) and Shen Kuo (1031–1095). 
• Du Shi employed a waterwheel to power the bellows of a blast
furnace producing cast iron. Zhang Heng was the first to employ
hydraulics to provide motive power in rotating an armillary
sphere for astronomical observation.
SRI LANKA

• In ancient Sri Lanka, hydraulics were widely used in the ancient

kingdoms of Anuradhapura and Polonnaruwa. The discovery of the
principle of the valve tower, or valve pit, (Bisokotuwa in Sinhalese)
for regulating the escape of water is credited to ingenuity more than
2,000 years ago. By the first century AD, several large-scale
irrigation works had been completed.
GRECO-ROMAN WORLD

• In Ancient Greece, the Greeks constructed sophisticated water and hydraulic power systems.
An example is the construction by Eupalinos, under a public contract, of a watering channel
for Samos, the Tunnel of Eupalinos. An early example of the usage of hydraulic wheel,
probably the earliest in Europe, is the Perachora wheel (3rd century BC).
• In Greco-Roman Egypt, the construction of the first
hydraulic automata by Ctesibius (flourished c. 270 BC) and Hero of Alexandria (c. 10 – 80
AD) is notable. Hero describes a number of working machines using hydraulic power, such as
the force pump, which is known from many Roman sites as having been used for raising water
and in fire engines.
• In the Roman Empire, different hydraulic applications were developed, including public water
supplies, innumerable aqueducts, power using watermills and hydraulic mining. They were
among the first to make use of the siphon to carry water across valleys, and used hushing on a
large scale to prospect for and then extract metal ores.
ARABIC-ISLAMIC WORLD

• In the Muslim world during the Islamic Golden Age and Arab Agricultural

Revolution (8th–13th centuries), engineers made wide use of hydropower as
well as early uses of tidal power,
• A variety of water-powered industrial mills were used in the Islamic world,
including fulling mills, gristmills, paper mills, hullers, sawmills, ship
mills, stam mills, steel mills, sugar mills, and tide mills. By the 11th century,
every province throughout the Islamic world had these industrial mills in
operation, from Al-Andalus and North Africa to the Middle East and Central
Asia.
• Al-Jazari (1136–1206) described designs for 50 devices, many of them water-
powered, in his book, The Book of Knowledge of Ingenious Mechanical
Devices, including water clocks, a device to serve wine, and five devices to lift
water from rivers or pools.
MODERN ERA (C. 1600 – 1870)

• In 1619 Benedetto Castelli (1576 – 1578–1643), a student of Galileo Galilei, published the

book Della Misura dell'Acque Correnti or "On the Measurement of Running Waters", one of
the foundations of modern hydrodynamics.
• Blaise Pascal(1623–1662) studied fluid hydrodynamics and hydrostatics, centered on the
principles of hydraulic fluids. His discovery on the theory behind hydraulics led to the
invention of the hydraulic press by Joseph Bramah
• A French physician, Poiseuille (1797–1869) researched the flow of blood through the body and
discovered an important law governing the rate of flow with the diameter of the tube in which
flow occurred.
• Several cities developed citywide hydraulic power networks in the 19th century, to operate
machinery such as lifts, cranes, capstans and the like. Joseph Bramah (1748–1814) was an
early innovator and William Armstrong (1810–1900) perfected the apparatus for power
delivery on an industrial scale. In London, the London Hydraulic Power Company
 ROBOTIC ARMS

• A robotic arm is a type of mechanical arm, usually programmable, with similar functions to a

human arm; the arm may be the sum total of the mechanism or may be part of a more
complex robot.

• The links of such a manipulator are connected by joints allowing either rotational motion or
translational (linear) displacement
HISTORY OF ROBOTIC ARMS
• The first robotic arm was installed at the General Motors plant
in Ewing Township, New Jersey in 1962. It was named 'Unimate' and was created by
George Devol. It's task was lifting and stacking hot metal parts. The arm
weighed about 1,815 kilograms and cost $25,000. Before this, robotics were
largely the products of science fiction and the imagination. The development of
robotics was slow for a while, with many of the most useful applications being
involved with space exploration, until the late 1970s when several big Japanese
conglomerates began producing similar industrial
robots.
HISTORY OF ROBOTIC ARMS
• In 1969 Victor Scheinman at Stanford University invented the
Stanford arm, an all-electric, 6-axis articulated robot designed to permit an
arm solution. This allowed it accurately to follow arbitrary paths in space and
widened the potential use of the robot to more sophisticated applications such
as assembly and welding. 
• Industrial robotics took off quite quickly in Europe. ABB
Robotics (formerly ASEA) introduced IRB 6, among the world's first commercially
available all electric micro-processor controlled robot. The first two IRB 6
robots were sold to Magnusson in Sweden for grinding and polishing pipe bends
and were installed in production in January 1974. Also in 1973 KUKA Robotics
built its first robot, known as 'FAMULUS', also one of the first articulated
robots to have six electromechanically driven axes. Interest in robotics
increased in the late 1970s and many US companies entered the field, including
large firms like General Electric, and General Motors. Only a few non-Japanese
companies ultimately managed to survive in this
market.
HISTORY OF ROBOTIC ARMS
• After Henry Ford invented the assembly line, the construction of
automobiles, cars and trucks remained unchanged throughout most of the 20th
century. The use of robots to aid in industrialization weren’t fully realized
until the 1980s, when robotic arms began to be integrated in automobile and
other manufacturing assembly lines. 
• Robots were initially retained to perform precise welding chores
and other repetitive tasks that humans had long found boring, monotonous and
injurious. By using robots to weld, handle dangerous objects and place items,
auto manufacturers were able to ensure a consistent product with a minimum of
worker injury. Currently, 50 percent of all robots in use today are used in
automobile manufacture.
TYPES

• There are six main types of industrial robots: cartesian, SCARA, cylindrical, delta, polar and
vertically articulated. However, there are several additional types of robot configurations. Each
of these types offers a different joint configuration. The joints in the arm are referred to as axes.
• These arms can be subdivided by the types and complexity of each of their joints and control
systems. The evolution of robotic arms is rapidly developing, however, and such schemes
probably do more for organizing information than in defining the actual product.
ARTICULATED 
• This robot design features rotary joints and can range from simple two joint structures to 10 or
more joints. The arm is connected to the base with a twisting joint. The links in the arm are
connected by rotary joints.
CARTESIAN 
• These are also called rectilinear or gantry robots. Cartesian robots have three linear joints that
use the Cartesian coordinate system (X, Y, and Z). They also may have an attached wrist to
allow for rotational movement. The three prismatic joints deliver a linear motion along the axis.
CYLINDRICAL
• The robot has at least one rotary joint at the base and at least one prismatic joint to connect the
links. The rotary joint uses a rotational motion along the joint axis, while the prismatic joint
moves in a linear motion. Cylindrical robots operate within a cylindrical-shaped work
envelope.
POLAR
• Also called spherical robots, in this configuration the arm is connected to the base with a
twisting joint and a combination of two rotary joints and one linear joint.  The axes form a
polar coordinate system and create a spherical-shaped work envelope.
SCARA 
• Commonly used in assembly applications, this selectively compliant arm for robotic assembly
is primarily cylindrical in design. It features two parallel joints that provide compliance in one
selected plane.
DELTA
• These spider-like robots are built from jointed parallelograms connected to a common base.
The parallelograms move a single EOAT in a dome-shaped work area. Heavily used in the
food, pharmaceutical, and electronic industries, this robot configuration is capable of delicate,
precise movement.
CLASSIFICATION

• A serial robot arm can be described as a chain of links that are moved by joints which are
actuated by motors. An end-effector, also called a robot hand, can be attached to the end of the
chain. As other robotic mechanisms, robot arms are typically classified in terms of the number
of degrees of freedom. Usually, the number of degrees of freedom is equal to the number of
joints that move the links of the robot arm. At least six degrees of freedom are required to
enable the robot hand to reach an arbitrary pose (position and orientation) in three dimensional
space. Additional degrees of freedom allow to change the configuration of some link on the
arm (e.g., elbow up/down), while keeping the robot hand in the same pose. 
REFERENCE

• https://whyps.com/examples-of-hydraulic-system?fbclid=IwAR3maoEc2J4JX7kxoZmLLkoZ2
lGQytJiD4AYUiCc4RJoW5bG4qBopJFDKxI
• https://en.wikipedia.org/wiki/Hydraulics?fbclid=IwAR2ctmwBVorXiZHv4aJ6-ueQu2BO7cYE
D6O1oz42PcRPA2Snd4GzL2G3gRE#Ancient_and_medieval_eras
• http://iptmajorprojectjacobheffernan.weebly.com/history-of-the-robotic-arm.html?fbclid=IwAR
1R1AvL-tv1KOqMDmgNDfYMdOD9swNATNm8WwQ8WaDWk_1oq0AY_L5qd7Y
• https://www.robots.com/faq/what-are-the-main-types-of-robots#:~:text=There%20are%20six%
20main%20types,are%20referred%20to%20as%20axes.