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CGPI-14

INSTITUTO

POLITECNICO

COORDINACION

NACIONAL

GENERAL DE POSGRADO E INVESTIGACION

ACTA DE REVISION

En la Ciudad de Abril
del ~

DE TESIS

siendo las

Mxico, O. F

horas del da

17:30

del mes de

se reunieron los miembros de la Comisin Revisora de Tesis designada

por el Colegio de Profesores de Estudios de Posgrado e Investigacin de

la

E. S. I. M. E.

para examinar la tesis de grado titulada:

"DISEO MECNICO DE UN BRAZO MANIPULADOR INDUSTRIAL
HIDRULICO (MIRH1) DE CINCO GRADOS DE LlB'

ROBTICO

Presentada por el alumno:

VZQUEZ

VZQUEZ

RAIMUNDO ANTELMO

materno

Apellido paterno

nombre(~)
Con

Aspirante

registro:

I
I

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O

I
1

I
1

I
O

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3

I
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al grado de:
MAESTRO

Despus
de
APROBACION
disposiciones

EN CIENCIAS

intercambiar
opiniones
los miembros
de
DE LA TESIS, en virtud de que satisface
reglamentarias

la Comisin
los requisitos

manifestaron
SU
sealados
por las

vigentes.
LA COMISION

REVISORA

tesis
~

M. EN C~~ATANAVE
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EL PRESIDENTE
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INSTITUTO
COORDINACION

POLITECNICO

NACIONAL

GENERAL DE POSGRADO E INVESTIGACION

CARTA

SESION

DE DERECHOS

En la Ciudadde Mxico,Distrito Federal,el da ~ del mes ~

del ao ~

el (la) que suscribe

Raimundo Antelmo VzQuezVzQuez alumno(a) del Programa de M. EN C. INGENIERIA

MECANICA (DISEO)con nmerode registro 8011030. adscrito a la Seccinde Estudiosde
Posgradoe Investigacinde la ESIMEUnidadZacatenco,manifiestaque es autor(a)intelectualdel
presenteTrabajode Tesis bajo la direccindel PRFR M. EN C. JORGE RAMOSWATANAVEy
cede los derechosdel trabajo intitulado:DISEODE UN 8RAZO MANIPULADORINDUSTRIAL
RO8TICO HIDRULICO(MIRH1) DE CINCO GRADOSDE LI8ERTDA. al InstitutoPolitcnico
Nacionalparasu difusin,con fines acadmicosy de investigacin.

Los usuariosde la informacinno debenreproducirel contenidotextual,graficaso datos del trabajo

sin el permisoexpresodel autor y/o directordel trabajo. Este puede ser obtenidoescribiendoala
siguientedireccin: raimundovazauezCW:att.net.mx
Si el permisose otorga,el usuariodeberdar el agradecimientocorrespondientey citar la fuentedel
mismo.

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I yy = 2722467207gr.mm

( Momento

de inercia de

(2000 psi)]
masa obtenido del mismo

software)

2-. .E
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32
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T4 = 3375859337

rad
+ 52.59[ N .m]
seg 2

gr.mm 2
1Kg
1m 2
*
*
+ 52.59[ N .m] = 3.38[ N .m] + 52.59[ N .m]
1000 gr 1000 2 mm 2
seg 2

'

T4 = 55.97[ N .m]
55.97 N .m 80 N .m
0
@.T
.

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54

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Wt

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T1 = ?

( Torque requerido )

Tmax = 80 N .m

[Torque mximo del

I yy = 29.52kg.m 2

motor

a 13.8MPa

(2000 psi )]

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software

Solid Works v 2003 )

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56

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60
60
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arc =
(180) = 3600
t
3
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rpm =
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grados 1rev
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x
= 10
= 10rpm
min
360
min

T1 = 41.34 N .mx
HP =

4<.L

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1in
x
x
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= 365[in.lb]
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61

CAPTULO 5

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CAPTULO 6

En este captulo se presentas las conclusiones

respecto al proyecto desarrollado, adems de las
recomendaciones para el desarrollo de un
manipulador

completo

en

sus

distintas

aplicaciones.

71

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78

ANEXO A

ANEXO B

Cinemtica inversa 2.nb

Desarrollo de las ecuaciones de diseo del manipulador MIRH1

Software: mathematica 4
In[1]:= A01

Cos 1 , 0, Sin 1 , Cos 1 a1 ,

Sin 1 , 0, Cos 1 , Sin 1 a1 , 0, 1, 0, d1 , 0, 0, 0, 1
MatrixForm
A01

Out[1]=

Cos
Sin

1
1

, 0, Sin
, 0, Cos

, Cos
, Sin

a1 ,
a1 , 0, 1, 0, d1 , 0, 0, 0, 1

Out[2]//MatrixForm=

Cos
Sin
0
0

0
0
1
0

1
1

Sin
Cos
0
0

1
1

Cos
Sin

a1
a1

1
1

d1
1

In[3]:= A12

Cos 2 , Sin 2 , 0, Cos 2 a2 ,

Sin 2 , Cos 2 , 0, Sin 2 a2 , 0, 0, 1, d2 , 0, 0, 0, 1
MatrixForm
A12

Out[3]=

Cos
Sin

2
2

, Sin
, Cos

, 0, Cos
, 0, Sin

2
2

2
2

a2 ,
a2 , 0, 0, 1, d2 , 0, 0, 0, 1

Out[4]//MatrixForm=

Cos
Sin
0
0

Sin
Cos
0
0

2
2

0 Cos 2 a2
0 Sin 2 a2
1
d2
0
1

2
2

In[5]:= A23

Cos 3 , Sin 3 , 0, Cos 3 a3 ,

Sin 3 , Cos 3 , 0, Sin 3 a3 , 0, 0, 1, d3 , 0, 0, 0, 1
MatrixForm
A23

Out[5]=

Cos
Sin

3
3

, Sin
, Cos

, 0, Cos
, 0, Sin

3
3

3
3

a3 ,
a3 , 0, 0, 1, d3 , 0, 0, 0, 1

Out[6]//MatrixForm=

Cos
Sin
0
0

3
3

Sin
Cos
0
0

3
3

0 Cos 3 a3
0 Sin 3 a3
1
d3
0
1

Cinemtica inversa 2.nb

In[7]:= A34

Cos 4 , 0, Sin 4 , Cos 4 a4 ,

Sin 4 , 0, Cos 4 , Sin 4 a4 , 0, 1, 0, d4 , 0, 0, 0, 1
MatrixForm
A34

Out[7]=

Cos
Sin

, 0, Sin
, 0, Cos

4
4

, Cos
4 , Sin

a4 ,
4 a4 , 0, 1, 0, d4 , 0, 0, 0, 1

Out[8]//MatrixForm=

Cos
Sin
0
0

0
0
1
0

4
4

Sin
Cos
0
0

Cos
Sin

4
4

a4
a4

4
4

d4
1

In[9]:= A45

Cos 5 , Sin 5 , 0, Cos 5 a5 ,

Sin 5 , Cos 5 , 0, Sin 5 a5 , 0, 0, 1, d5 , 0, 0, 0, 1
MatrixForm
A45

Out[9]=

Cos
Sin

, Sin
, Cos

5
5

, 0, Cos
, 0, Sin

5
5

5
5

a5 ,
a5 , 0, 0, 1, d5 , 0, 0, 0, 1

Out[10]//MatrixForm=

Cos
Sin
0
0

Sin
Cos
0
0

5
5

5
5

0 Cos 5 a5
0 Sin 5 a5
1
d5
0
1

Operaciones matriciales
In[11]:= A02

Dot A01 , A12

MatrixForm A02

Out[11]=

Cos
Cos
Sin

1
2
2

Cos
Sin
, Cos

2
1

, Cos 1 Sin
, Sin 1 Sin
2 , 0, Sin
2 a2

2
2

, Sin 1 , Cos
, Cos 1 , Sin
d1 , 0, 0, 0, 1

1
1

a1 Cos
a1 Cos

1
2

Cos
Sin

2
1

a2 Sin
a2 Cos

1
1

d2 ,
d2 ,

Out[12]//MatrixForm=

Cos
Cos

1
2

Cos
Sin

Sin
0

2
1

Cos
Sin

1
1

Cos
0

Sin
Sin
2

2
2

Sin
Cos
0
0

1
1

Cos
Sin

1
1

a1
a1

Cos 1 Cos
Cos 2 Sin
Sin 2 a2
1

2
1

d1

a2
a2

Sin
Cos

1
1

d2
d2

Cinemtica inversa 2.nb

In[13]:= A03

Dot A02 , A23

MatrixForm A03
Cos
Cos
Cos
Sin
Cos
Sin
Sin
Cos
Sin

Out[13]=

Cos 2 Cos 3
Cos 1 Sin 2 Sin 3 ,
Cos 3 Sin 2
Cos 1 Cos 2 Sin 3 ,
Cos 1 Cos 2 a2 Cos 1 Cos 2 Cos
1 a1
Sin 1 d3 , Cos 2 Cos 3 Sin 1
1 d2
Cos 2 Sin 1 Sin 3 ,
3 Sin
1 Sin
2
Cos 2 Sin 1 a2 Cos 2 Cos 3 Sin
1 a1
Cos 1 d2 Cos 1 d3
1 Sin
2 Sin
3 a3
Cos 2 Sin 3 , Cos 2 Cos 3
3 Sin
2
Cos 3 Sin 2 a3 Cos 2 Sin 3 a3
2 a2
1

Sin

,
Cos 1 Sin
Sin 1 Sin 2 Sin
Cos 1 ,
1 a3
,
Sin 2 Sin 3 , 0,
d1 , 0, 0, 0, 1
1

a3

2
3

Sin
,

a3

Out[14]//MatrixForm=

Cos
Cos

1
2

Cos
Cos
Cos

2
3
3

Cos
Sin
Sin

Cos
Sin
Cos

3
1
2

Sin
Sin
Sin

1
1
2

2
2

Sin
Sin

Cos
Cos

3
3

1
3

Cos
Sin
Cos

3
1
2

Sin
Sin
Cos

Cos
Cos
Sin

2
2
3

1
2
2

Cos
Sin
Sin

2
1

Sin
Sin

In[15]:= A35

Dot A34 , A45

MatrixForm A35
Cos
Cos
Sin

Out[15]=

4
5
5

Cos
Sin
, Cos

5
4

, Cos 4 Sin
, Sin 4 Sin
5 , 0, Sin
5 a5

5
5

, Sin 4 , Cos
, Cos 4 , Sin
d4 , 0, 0, 0, 1

4
4

a4 Cos
a4 Cos

4
5

Cos
Sin

5
4

a5 Sin
a5 Cos

4
4

d5 ,
d5 ,

Out[16]//MatrixForm=

Cos
Cos

4
5

Cos
Sin

Sin
0

5
4

Dot A03 , A35

MatrixForm T
Cos
Cos
Cos
Cos
Cos
Cos
Cos
Cos
Sin
Sin
Sin
Cos
Cos
Sin

4
4

Sin
Sin

Cos
0

In[17]:= T

Out[17]=

Cos
Sin

Sin
Cos
0
0

5
5

4
4

Cos
Sin

4
4

a4
a4

Cos 4 Cos
Cos 5 Sin
Sin 5 a5
1

5
4

a5
a5

Sin
Cos

4
4

d5
d5

d4

FullSimplify

Cos 2
Sin 1 Sin 5 ,
3
4 Cos
5
Sin
Cos
Cos
5
1
1
2
3
4 Sin
5 , Cos
1 Sin
2
3
4 ,
a
Cos
Cos
a
Cos
Cos
Cos
a
1
1
1
2
2
1
2
3
3
Sin 1 d2 Sin 1 d3 Sin 1
Sin 5 a5 d4
1 Sin
2 Sin
3 a3
Sin 4
a4 Cos 5 a5
Cos 4 d5
1 Sin
2
3
Cos 4
a4 Cos 5 a5
Sin 4 d5 ,
1 Cos
2
3
Cos 1 Sin 5 ,
2
3
4 Cos
5 Sin
1
Cos 2
1 Cos
5
3
4 Sin
1 Sin
5 , Sin
1 Sin
2
3
4 ,
Cos 2 Sin 1 a2 Cos 2 Cos 3 Sin 1 a3
1 a1
Cos 1 d2 Cos 1 d3 Cos 1
Sin 5 a5 d4
1 Sin
2 Sin
3 a3
Sin 4
a4 Cos 5 a5
Cos 4 d5
1 Sin
2
3
Cos 4
a4 Cos 5 a5
Sin 4 d5 ,
2
3 Sin
1
5 Sin
2
3
4 , Sin
2
3
4 Sin
5 , Cos
2
3
4 , Sin
2 a2
Sin 2
a4 Cos 5 a5
d1 Cos 2
2
3 a3
3
4
3
4 d5 , 0, 0, 0, 1
1

Out[18]//MatrixForm=

Cos
Cos

Cos

3
4 Cos
Cos 5 Sin
Cos 5 Sin 2
0
2

Sin
Cos
3

1
1

Sin
Sin

5
5

Cos
Cos

5
1

Sin
Cos

1
5

Sin

Cos
Cos
2

Cos

1
2
3

3
4

2
4

Sin

Sin
5

4
1

Sin
Sin

Posicin de inicio.nb

Evaluacin del sistema matricial para determinar la posicin del ltimo eslabn del MIRH1
Posiscin de Inicio-referencia
Software: mathematica 4

In[19]:= d1

Out[19]= 0
In[20]:= d2

Out[20]= 0
In[21]:= d3

Out[21]= 0
In[22]:= d4

Out[22]= 0
In[23]:= d5

442

Out[23]= 442
In[24]:= a1

Out[24]= 0
In[25]:= a2

450

Out[25]= 450
In[26]:= a3

450

Out[26]= 450
In[27]:= a4

Out[27]= 0
In[28]:= a5

Out[28]= 0
In[29]:=

90

90

Out[29]= 90
In[30]:=

Out[30]= 90
In[31]:=

Out[31]=

90

90

Posicin de inicio.nb

In[32]:=

90

Out[32]= 90
In[33]:=

Out[33]= 0
In[34]:= A01

Cos 1 , 0, Sin
Sin 1 , 0, Cos
MatrixForm
A01

Out[34]=

, Cos
, Sin

1
1

1
1

a1 ,
a1 , 0, 1, 0, d1 , 0, 0, 0, 1

0., 0., 1., 0. , 1., 0., 0., 0. , 0., 1., 0., 0. , 0., 0., 0., 1.

Out[35]//MatrixForm=

0.
1.
0.
0.

0.
0.
1.
0.

1.
0.
0.
0.

0.
0.
0.
1.

In[36]:= A12

Cos 2 , Sin 2 , 0, Cos 2 a2 ,

Sin 2 , Cos 2 , 0, Sin 2 a2 , 0, 0, 1, d2 , 0, 0, 0, 1
MatrixForm
A12

Out[36]=

0.,

1., 0., 0. , 1., 0., 0., 450. , 0., 0., 1., 0. , 0., 0., 0., 1.

Out[37]//MatrixForm=

0.
1.
0.
0.

1.
0.
0.
0.

0. 0.
0. 450.
1. 0.
0. 1.

In[38]:= A23

Cos 3 , Sin 3 , 0, Cos 3 a3 ,

Sin 3 , Cos 3 , 0, Sin 3 a3 , 0, 0, 1, d3 , 0, 0, 0, 1
MatrixForm
A23

Out[38]=

0., 1., 0., 0. ,

Out[39]//MatrixForm=

0.
1.
0.
0.

1.
0.
0.
0.

0.
0.
1.
0.

0.
450.
0.
1.

1., 0., 0.,

450. , 0., 0., 1., 0. , 0., 0., 0., 1.

Posicin de inicio.nb

In[40]:= A34

Cos 4 , 0, Sin
Sin 4 , 0, Cos
MatrixForm
A34

Out[40]=

, Cos
, Sin

4
4

4
4

a4 ,
a4 , 0, 1, 0, d4 , 0, 0, 0, 1

0., 0., 1., 0. , 1., 0., 0., 0. , 0., 1., 0., 0. , 0., 0., 0., 1.

Out[41]//MatrixForm=

0.
1.
0.
0.

0.
0.
1.
0.

1.
0.
0.
0.

0.
0.
0.
1.

In[42]:= A45

Cos 5 , Sin 5 , 0, Cos 5 a5 ,

Sin 5 , Cos 5 , 0, Sin 5 a5 , 0, 0, 1, d5 , 0, 0, 0, 1
MatrixForm
A45

Out[42]=

1., 0., 0., 0. , 0., 1., 0., 0. , 0., 0., 1., 442. , 0., 0., 0., 1.

Out[43]//MatrixForm=

1.
0.
0.
0.

0.
1.
0.
0.

0. 0.
0. 0.
1. 442.
0. 1.

Operaciones matriciales
In[44]:= A02

Dot A01 , A12

MatrixForm A02

Out[44]=

0., 0., 1., 0. , 0., 1., 0., 0. , 1., 0., 0., 450. , 0., 0., 0., 1.

Out[45]//MatrixForm=

0.
0.
1.
0.

0.
1.
0.
0.

1. 0.
0. 0.
0. 450.
0. 1.

In[46]:= A03

Dot A02 , A23

MatrixForm A03

Out[46]=

0., 0., 1., 0. , 1., 0., 0., 450. , 0., 1., 0., 450. , 0., 0., 0., 1.

Out[47]//MatrixForm=

0.
1.
0.
0.

0.
0.
1.
0.

1. 0.
0. 450.
0. 450.
0. 1.

Posicin de inicio.nb

In[48]:= A35

Dot A34 , A45

MatrixForm A35

0., 0., 1., 442. , 1., 0., 0., 0. , 0., 1., 0., 0. , 0., 0., 0., 1.

Out[48]=

Out[49]//MatrixForm=

0.
1.
0.
0.

0.
0.
1.
0.

1. 442.
0. 0.
0. 0.
0. 1.

In[50]:= T

Dot A03 , A35

MatrixForm T

Out[50]=

FullSimplify

0., 1., 0., 0. , 0., 0., 1., 892. , 1., 0., 0., 450. , 0., 0., 0., 1.

Out[51]//MatrixForm=

0.
0.
1.
0.

1.
0.
0.
0.

0. 0.
1. 892.
0. 450.
0. 1.

ANEXO C

ENGINEERING DATA
THE BASICS

POSSIBLE APPLICATIONS

Rotary actuators convert fluid pressure into rotary power, and develop
instant torque in either direction. Basic construction consists of an
enclosed cylindrical chamber containing a stationary barrier and a
central shaft with vane(s) affixed. Fluid pressure applied to either side
of the vane will cause the shaft to rotate.

Rotary actuators are adaptable to a wide variety of uses in many

different industries. The sketches shown give only an idea of the various
possibilities. Actuators can perform a wide range of operations involving
rotary or linear motion.

The output torque developed is determined by the area of the vane,

the number of vanes, and the fluid pressure applied. Speed of rotation is
dependent on the flow and pressure capacities of the hydraulic system.
The majority of actuators are constructed with one or two vanes, but are
available with three or more for special applications. The theoretical
torque output of a multivane unit is greater by a factor equal to the
number of vanes times the torque of a single vane unit at equal
pressure. The maximum arc of rotation for any actuator depends on the
size and construction of the unit, and will always be less than the
number of vanes divided into 360 because of the space occupied by
the internal barrier(s). The arc of a single vane is approximately 280, a
double vane 100 and a triple vane 50.

TOGGLE
PUSH CLAMP

BEND

TWIST

TURN OSCILLATE

CONTINUOUS ROTATION

INDEX POSITION

MATERIAL HANDLING

MIX STIR

AUTOMATION TRANSFER

LOAD
POSITION UNLOAD

CONVEYOR TURN STOP

INTERMITTENT FEED

TURNOVER DUMP

VALVE OPEN CLOSE

LIFT ROTATE
AND MANY OTHERS

VERSATILITY
Fluid Media Actuators can be operated on either pneumatic
or hydraulic pressure. The fluid can be air, oil, high water base fluid
(HWBF), or fire resistant fluid. Actuators can be assembled with
special seals and/or internally plated for specific fluids.
Mounting Actuators can be mounted horizontally, vertically or
any angle in between. Models are available with flange, end, base
or foot mounting provisions.
Actuators are usually mounted in a stationary position with the shaft
rotating, but also can be shaft mounted with the housing portion rotating. Some models require mounting dowels to resist torsional forces.
See the specific actuator model for mounting details.

TYPICAL MOUNTINGS

Control Stopping, starting, acceleration and deceleration of

actuators can be controlled by various types of valves in the fluid circuit.
External stops are recommended for most applications,
although the arc of oscillation can be controlled by valves or positive
internal stops (for light duty applications only).
In most cases special manifolds can be designed to mount servovalves to the actuators allowing sophisticated control of all functions.
E-1
1-94

FACTORS TO CONSIDER WHEN

APPLYING ACTUATORS
Service
Light Load Heavy Load consider weight of load and distance
from actuator shaft.
Bearing Loads heavy radial loads without external bearing support.
Shock Loads consider dropped loads or mechanical failure of
associated equipment. Also start - stop - jog and other non mechanical contact, hydraulic shock loads.
Rate of Oscillation time to move load thru required angle. Also
consider small angle - high rate applications.
Cycle Frequency how often actuator is cycled. One cycle per
minute, one cycle per week, etc.
External Stops external stops should be used to limit
angular travel as the actuator abutments (shoes) are not designed
as mechanical stops.
Operating Press should not exceed rated pressure of actuator.

Environmental
Temperature Hot example foundry applications.
Cold example cryogenic equip, outdoor equip.
Dirt Examples, foundries, construction equipment
Caustic Examples, valve operators, mixers plating tanks
Humidity marine applications, outdoor
Vibration machine tools, test equipment
Radiation nuclear energy plants
Electricity welding equipment
Clean food processing, medical equipment

Maintenance
Lubrication consult factory
Filter Maintenance especially foundry and construction
type applications
Shaft Alignment close tolerance alignment or flexible couplings
Proper Mounting rigid support, tight bolts, good coupling fits
Long Term Storage fill with compatible oil
External Stops tightness and proper location
Fluid Media Conditioning water separators, lubricators, oil coolers
Fittings and Hoses tightness and general condition
Protective Shielding for high temperature or excessively
dirty applications

GENERAL ENGINEERING NOTES

Selection of the proper sized actuator for an application is
accomplished by determining the necessary torque to move the load
at the required speed, the available fluid pressure and the necessary
arc of rotation. Good design practice dictates a nominal over capacity
be designed into the load moving system.
Load torque, TL (inch pounds) is the resistance to movement of the
shaft due to a load force or mass, M,
(pounds) acting at a distance, R,
(inches) from the center of the shaft
rotation. TL =MR.
Motion will occur when the applied
torque of the actuator exceeds the load
torque. The velocity and acceleration, A,
given to the load mass, M, is proportional
to the excess torque or force, F.
A=F or F=MA
M
Similarly, the load mass once set in
motion must be stopped or decelerated
with an opposing force F=MA. This
deceleration force can be obtained by
gradually restricting the flow of fluid to
and from the actuator.
Caution:
Actuator should be protected from over pressurization during deceleration.
Lifting a mass in an arc causes the effective radius ER, to vary with
the rotational position, becoming minimum at the vertical (90) position. The load torque due to load force thus decreases from maximum
at position 1 to minimum at position 2, and then reverses to aid rotation from position 2 to position 3. Restrictions of fluid flow and control
of deceleration pressures is vitally necessary in this type of application.

Calculation of the amount and rate of energy dissipation required to

stop a moving mass is possible if the variables such as velocity, mass,
time, pressure, viscosity, etc., can be determined. In actual circuits
these factors are inter-related and solution is often complex.
Good general practice requires that more cycle time be allowed for
deceleration than for acceleration of a given mass.
A simplified calculation can be made if the assumption is made that
the acceleration and deceleration are constant and uniform. The energy
required to accelerate the mass must be equal to the energy to
decelerate the mass. This simplifies to the following formulas:
Pressure (PSI accel) times
Pressure (PSI accel) times
Rotation (Degrees accel)=
Time accel=
OR
Pressure (PSI decel) times
Pressure (PSI decel) times
Rotation (Degrees decel)
Time decel
Example:
A mass accelerated uniformly for
50 @ 800 psi moves at constant
velocity through use of flow-control
valves until decelerated in the last
100 in 10 seconds @ 400 psi.
Note, however, that if the driving
pressure were not removed during
the deceleration period, the total deceleration pressure would be the sum of
pressures, and at 1,200 psi could exceed the rating of the unit.
Actuator distributors can provide valuable assistance in solving specific
circuit and application problems.
Direction and speed control for slow speed and light loading
applications can be accomplished with relatively simple fluid circuits using
hand- operated 4-way valves.

High speed and/or rapid cycling operation would suggest a commercially

available solenoid-operated 4-way directional control valve and flow-control valves
for better control of cycle motions, and the addition of fluid cooler, accumulators,
and other components directed to specific system requirements.

Severe shock and possible damage to the system can occur on hydraulic
applications by sudden or complete restriction of outgoing fluid, which allows
the moving mass to generate high surge or transient shock wave pressures
which must not exceed the rating of the unit.
E-2
4-96

Engineering
Data

ENGINEERING DATA

ENGINEERING DATA
Deceleration valves, actuated by cams or by limit switches, are often
used to gradually restrict the fluid and stop the moving mass. Usually,
relief valves plumbed as shown, or plumbed from one line to the other in
each direction, will limit the generation of surge pressures to a safe
value. Cross-port relief manifolds are available for most actuators. If cam
valves are used, the cam shape should provide a gentle ramp transition,
and the spool should be tapered to provide a gradual closing off of fluid.
As a general rule, external stops, mounted securely to the
machine framework, should be used to stop the load. The shaft
vanes should not contact the internal stops except under very
light loads.
Air bleeding in hydraulic systems is usually not required if actuator is
mounted with supply ports upward. In other positions, air will gradually
dissolve in the oil and be carried away as the actuator is cycled. Special
bleed connections are available as an optional feature on some
actuators if specified when ordering.
Internal by-pass flow is always present to a small degree, and
increases with increase of pressure. On air applications it must be
recognized that on stall-out applications, under air pressure, there will
be a small continuous by-pass flow.
Pure torque out-put from the actuator without external radial shaft
bending loads is preferred to allow maximum bearing life. An arrangement with a semi-flexible coupling and the load shaft supported by
separate bearings is recommended.

A similar arrangement is advised for power transmission through

gears to eliminate gear load and separating forces from aggravating the
actuator bearing load.

Where a flexible coupling cannot be

used, very accurate alignment of the
actuator and associated equipment is
essential to prevent undue actuator
bearing loading.
End thrust or axial loading of the
actuator shaft is not advised. A thrust
bearing, and the load driven through a
sliding spline (or other means)
is recommended to minimize internal
wear for maximum actuator life.
Temperature:
Standard actuators, unless otherwise specified, may be operated
satisfactorily between minus 30F and plus 250F. Operation at higher
temperatures requires special seal compounds.
E-3
4-96

Filtration:
Filtration of operating fluid to the 25 micron range is recommended.
Storage:
Actuators, when stored for any extended period of time, will require
additional rust protection. Upon receipt of the actuator, remove port
plugs, fill the actuator chambers with clean, mineral-base oil (or other
fluid compatible with seal compounds), and replace plugs securely.
Cover exterior surfaces with adequate rust-preventive material. Place in
a poly bag and seal.
Installation:
Normal machinists practice and care should be used in installing
actuators. As for any oscillating type actuator, the most efficient means
of transmitting the torque developed is through multiple tooth, involute
spline or SAE 10-B spline. Suitable flange type adapters and straight
connectors are covered under Accessories in the catalog. These are
also available through the local distributor.
System Pressure:
Caution must be exercised in actuator sizing by making allowance for
a pressure drop throughout the hydraulic system in which the actuator is
installed. If an extensive system of piping, control valves, flow control
valves, etc. is present, it is to be expected that full line pressure will not
be available at the actuator inlet port.
Angular Velocity:
Angular velocity can be readily controlled by metering the amount of
flow of fluid into or out of the actuator ports. Many designs of flow
control valves are available on the market for this purpose. If greater
flow is required than that available in the selected standard actuator,
special larger size ports can be specified within reasonable limits.
Service and Repair:
Seals in actuators are readily replaced by qualified personnel trained in
hydraulic equipment repair. Interchangeable replacement parts are available
from factory. Always specify the serial number and bill of material of unit
when ordering spare or replacement parts. Replacement of worn bearings
may be accomplished by qualified personnel, but we recommend that such
repairs be made by the Factory Repair Department so that units can be
reconditioned to meet original performance specifications.
Distributors in principal cities throughout the U.S., Canada, Europe,
and Asia can supply you with additional information. If you have any
questions, contact your distributor, or the actuator factory.
An overhaul procedure which contains complete instructions for
replacement of seals or other worn parts, and an exploded view and
parts list for ordering replacement parts, is available from the factory.
Service operations should be performed by competent hydraulic
equipment technicians to maintain high manufacturing quality standards.

Basic Formulas (Hydraulic)

L = Body Length (in.)
D = Body I.D. (in.)
d = Hub dia. (in.)
ARC = Degrees of Rotation
N = Number of Vanes
PSI = Lbs/Sq. Inch (Pressure)
Displacement Per Radian = [NL(D2 d2 )]8 (in3/Rad.)
Theoretical Torque = [NL(D2 d2)8]PSI (in-lb)
Actual Torque = Theoretical Torque % efficiency (in-lb)
Total Displacement = [LARCN (D2 d2)]1440 (in3)

ENGINEERING DATA

FIGURE 1. TYPICAL HARMONIC MOTION DRIVE ARRANGEMENT

Applications requiring the linear transfer of a load under controlled

acceleration and deceleration are quite common. Within limits, this type
of motion can be achieved thru a harmonic motion drive. An actuator
driven, scotch yoke arrangement as shown in Figure 1 imparts this
type motion. The scotch yoke converts the constant speed rotating
motion to a sinusoidal motion producing maximum linear force for
acceleration, maximum linear speed thru the middle of the actuator
stroke, and maximum decelerating forces to slow and stop the load.

The following equations assume a constant actuator rotational

velocity. This is sometimes difficult to achieve, particularly for short
cycle times that result in a large load velocity. The inertia of the load
will tend to drive the actuator during the deceleration phase. These
forces may cause cavitation or physical damage to the actuator.
Therefore, under certain conditions the actuator may require external
assistance in decelerating the load.
A flow control in the discharge side of the actuator provides this
assistance, assuring a positive-pressure throughout the cycle. The
added resisting torque resulting from the discharge metering must be
added to the driving torque requirement.

Equations of Motion
The equation of motion for a Scotch Yoke mechanism can be
developed as follows:
Referring to Figure 1.
(1) s=r cos
and
(2) =t
Where
= angular velocity of crank (link 1). rad
t=time, sec.
sec.
r=crank length, in.
s=horizontal movement of load W from midpoint of travel, in.
The velocity of link 2, and thus load W, may be found by differentiating
the movement with respect to time.
(3) v = d(s) = d(r cos t) =r sin t
dt
dt
The acceleration of load W is found by differentiating its velocity with
respect to time:
(4) a = dv = d(r sin t) =r2 cos t
dt
dt
Therefore, when the crank rotates at constant angular velocity, the velocity and acceleration of the load can be determined for any position of the
crank. Equation (4) indicates that maximum acceleration occurs when
cos t = 1 or
(5) a max. =r2
For a 180 crank throw, = , where t represents the time
t
required to transfer the load a distance of 2r. Therefore,
(6) a max. =r ( )2
t
This relation applies for any load W.

Engineering
Data

HARMONIC MOTION DRIVES

Required Torque
Consider an actuator powered Scotch Yoke mechanism moving a
load as shown in Figure 1. Assume for simplicity that the system is
frictionless. The forces acting on the actuator crank (link 1) are also
shown in Figure 1.
(7) P = W a= W (r2 cos t)
g
g
(8) F = W (r2cos t) (sin t)
g
(9) R = W (r2cos2 t)
g
Therefore, the required actuator torque at any time during the cycle is:
(10) T = (F)r = Wr22 (cos t) (sin t)
g
The maximum torque requirement may be found by differentiating
equation (10) with respect to time and setting the result equal to 0 as
follows:
(11) dT = Wr22 d(cost sin t) =0
dt
g
dt
Wr22 [cos2t sin2t] =0
g
Since sin2t = 1 cos2t, substitution into equation (11) yields
cos2t = 0.5
or
cost = sint = 0.5
Therefore, the maximum actuator torque requirement is:
(12) T max. = (.5)
Recalling that =

Wr22
g

(t = time for 180 crank throw)

t

and g = 386.4 in/sec2

(13) T max. = (.5)()2
XW r
t
386.4

with r measured
( ) = .01277W ( tr ) inIN-LB
inches.
2

This expression may be used to determine the maximum actuator

torque requirement for a frictionless system by knowing the load weight,
crank arm length and the time required for 180 crank rotation.
In systems where friction must be considered, the required actuator
torque will obviously be greater than that given by equation 13. The
derivation of torque equations which consider the effects of friction
becomes somewhat mathematically involved and will therefore not be
repeated here.
E-4
4-96

ENGINEERING DATA
However, by considering only friction of the moving load and neglecting the crank friction forces along the vertical axis (vertical friction forces
have little effect on torque) it can be shown that the maximum actuator
torque is approximately:
(14) T max. = Wr[.02554 r cost + ]sin t, in-lb
(t)2
where = coefficient of friction of moving load
t = cos-1 {9.788 (t)2 + .25 [1532.76 2(t)4 + 8]1/2}

r2

ROTATIONAL SPEED OF
ACTUATORS/PUMP CAPACITY
REQUIRED
For hydraulic operation the time necessary for the actuator to make its
travel arc can be figured with reasonable accuracy.
Where:
Arc=amount of rotation required (in degrees).
t=time, in seconds, for the actuator to make its arc of rotation.
Av=Angular velocity, in degrees per minute, for the actuator to make its
arc of rotation.
Da=displacement, in cubic inches per radian, of the actuator.
GPM=gallons per minute required to rotate the actuator the specified
arc in the specified time.
60Arc
t=
Av
Av =

Using the same basic formula, the GPM required to rotate an actuator a
specified arc in a specified time can be figured.
GPM = Da x Av
13235
Example:
Calculate the necessary pump capacity required to rotate an actuator
that displaces 10.9 cubic inches per radian, 180 in .5 seconds.
60Arc 60180
=
= 21,600 degrees per minute
t
.5

GPM =

DaAv 10.921,600
=
= 17.79 Gallons per minute
13235
13235

SAMPLE PROBLEMS
A few typical Rotac application problems are presented here along with
simplified solutions which can be used to approximate the torque
requirement for a specific job. These formulas should be used only as a
guide in the selection of an actuator since friction and other system
characteristics are not considered.
E-5
2-90

Problem #1
Find the torque required to rotate a rectangular load (horizontally) thru a
given arc in a specified time. (See fig. 1)
Solution:
T = Jm
Jm = Jm1 + Jm2 . . . The sum of all polar mass moments of inertia
being rotated.

13235GPM
Da

Example:
Calculate the time necessary to rotate an actuator 100, that
displaces 3.78 cubic inches per radian, with a five gallon per minute
fluid supply.
13235GPM 132355 17506.6 degrees per
Av =
=
=
minute
Da
3.78
60Arc 60100
t=
=
= .343 seconds
Av
17506.6

Av =

The symbols used in the sample problems are defined as follows:

a, b,
Dimensional Characteristics of Load, IN.
F Force, LB.
g Acceleration of Gravity, (386.4 IN./SEC.2)
Jm Polar (mass) Moment of Inertia, in-lb sec2
r Radius, IN. (to the center of gravity of the weight)
t Time, Sec. (per stroke or 1/2 cycle)
T Torque, IN.-LB.
m Mass of Load (Weight 386.4)
Angular Acceleration, RAD./SEC.2
Angular movement in radians (degrees per stroke 57.3)

Jm1 m1 r1 2 (for applications where r is large in comparison to a & b)

2
Jm2 = m2 (for a straight rod or any straight symmetrical shape)
3
= 4 (assumes 50% of rotating time for acceleration and 50%
t2 for deceleration)

Example #1
Find the torque necessary to rotate a 20 lb. weight, 160, in .5 seconds.
The weight is supported by a 36" long, 3 lb. rod. (a & b are 8.4 inches)
(r1 = 40.2 inches)
Jm1 m1 r1 2 = 20 (40.2)2 = 83.64 in-lb sec2
386.4
2
m
Jm2= 2 = [3(386.4)]362 = 3.35 in-lb sec2
3
3
160

= 57.3 = 2.792 radians

4(2.792)
4

t2

.52

= 44.67 radians / sec.2

T = Jm = (Jm1 + Jm2) = (83.64 + 3.35)44.67 = 3885 in-lb of

torque required

Note: If r1 is small in relation to a & b use: Jm1 = m1 a2 + b2 +r 2

12

ENGINEERING DATA
Example #2
(assume r1 in example #1=12" all other parameters remain the same)
Jm1 = m1 a2 + b2 + 2 = 20
8.42 + 8.42 + 2 =8.06 in-lb sec2
r1
12
12
12
386.4
= r1 (a2) = 12 (8.42) = 7.8

Engineering
Data

Problem 2:
Find the torque required to rotate a thin hollow pipe about its transverse
axis through a given angle in a specified time.

2
[3 (386.4)]7.82 = .157 in-lb sec2
Jm2 m2 =
3
3
= same as previous (44.67)

T = Jm = (Jm1 + Jm2) = (8.06 + .157) 44.67

= 367 in-lb of torque required
Solution:
Problem 1A:
Find the torque required to lift a weight and rotate it vertically thru a
specified arc in a specified time.

T = Jm = (Jmc + Jmp)

Solution:

For thin-walled pipe 2

Jmp = m (rp2 + p )
2
6

T =(Jm + (Wr coss ))

For thick-walled pipe

2
Jmp = m (Rp2 + rp2 + p )
4
3
For solid-circular bar
Jmc = m (3rc2 +
12

2
c

Assume:
50% ( t ) for acceleration
50% ( t ) for deceleration
FIGURE 2

Note: Jm is the torque required to move the load without the effect
of gravity.
Wr cos is the torque resulting from the effect of gravity on the load.
The torque required changes as the angle changes, the maximum
requirement at horizontal, lessening to zero at the vertical. The torque
value is negative past vertical, gravitational forces actually aiding in
producing torque.
Example #3
Find the torque required if the load in example # 1 is rotated vertically.
Assume the starting angle (S) is 20.
Assume:
Jm = T = 3885 in.-lb. (from example #1) W1 = 20 lb., W2 = 3 lb.,
r1 = 40.2, r2 = 20.1
T = (Jm + (w1 r1 + w2 r2)cos S)
= 3885 + (20 40.2 + 3 20.1) cos 20 = 4697 in.-lb. required at start.
Tmax = [Jm + (w1 r1 + w2 r2)]
= [3885 + (2040.2 + 320.1)] = 4749 in-lb

Therefore,
= 4
t2
Example:
Assume:
Carrier: 1" dia. x 12" long steel bar (2.7 Lb.)
Pipe: 2.88 I.D. x 3.00 O.D. x 36" long (steel) (6 Lb.)
Rotate pipe 180 in 2 secs.
m= W
386.4
T = (Jmp = Jmc)
Jmp =m (rp2 + p2) = .0155 (1.442 + 362) = 1.690 in-lb sec2
2
6
2
6
Jmc =m (3rc2 +
12

2
c

) = .007 (3(.5)2 + 122) = .084 in-lb sec2

12

= 4 = 4(18057.3) = 4(3.14) = 3.14 rad/sec.2

t2
22
4
T = (1.690 + .084) 3.14 = 5.57 in.-lb. torque required
E-6
4-96

ENGINEERING DATA
Problem 3:
Find the torque required to open or close a door through a given angle
in a specified time.

Problem 4:
Find the torque required to rotate several plates of various thicknesses
through a given angle in a specified time.

Solution:

Solution:

T = Jm CL hinge
JmA-A = m (a2 + b2)
12

T= Jm CL Rotation = [(Jm1 + Jm2 + Jm3) + (w1r1 + w2r2 + w3r3)]

Jm1 =

M1 2 2
(a + b ) + m1r12
12 1 1

Jm2 =

M2 2 2
(a + b ) + m2r22
12 2 2

Jm3 =

M3 2 2
(a + b ) + m3r32
12 3 3

Assume:

Jm CL hinge = JmA-A + mr2

50% (t) for acceleration

50% (t) for deceleration

Assume:
50% ( t ) for acceleration
50% ( t ) for deceleration
Therefore,
a=

4
t2

Example:
Find the torque necessary to open a 350 Lb. door 100 in .8 secs.
Assume:
door: a = 4", b = 36", r = 22", w = 350 Lb.
m=

W
386.4

T = Jm CL hinge
JmA-A = m (a2 + b2) = .906 (42 + 362) = 99.06 in-lb sec2
12
12
Jm CL hinge = JmA-A + (mr2) = 99.06 + (.906 (222)) = 537.56 in-lb sec2
= 4 = 4(10057.3) = 6.98 = 10.91 rad./sec2
t2
.82
.64
T = Jm CL hinge = 537.56 (10.91) = 5864. 12 in-lb. torque required

Therefore,

= 4
t2

Example:
Rotate three plates as shown, 180 in 2 secs.
Assume:
w1: a1 =.5", b1 =6" weight=10 Lb., r1 =5.25
w2: a2 =5", b2 =6" weight=100 Lb., r2 =2.5
w3: a3 =2", b3 =6" weight=40 Lb., r3 =1.0
m=

W
386.4

T= Jm CL Rotation = (Jm1 + Jm2 + Jm3)

Jm1 = m1 (a12 + b12) + m1 r12 = .026 (.52 + 62) + .026 (5.25)2
12
12
= .795 in-lb sec2
Jm2 = m1 (a22 + b22) + m2 r22 = .259 (52 + 62) + .259 (2.5)2
12
12
= 2.94 in-lb sec2
Jm3 = m3 (a32 + b32) + m3 r32 = .104 (22 + 62) + .104 (1.0)2
12
12
= .451 in-lb sec2
2
= 4
= 4(18057.3)
= 4(3.14) = 3.14 rad/sec.
t2
22
4

T= [(Jm1 + Jm2 + Jm3) + (w1r1 + w2r2 +w3r3)]

=[ (.795 + 2.94 + .451) 3.14 + (10 x 5.25 + 100 x 2.5 + 40 x 1)]
= 355.64 in-lb torque required
E-7
3-93

ENGINEERING DATA
Problem 6:
Find the torque required to produce a given force in a typical die
closer application.

Solution:

Solution:

Engineering
Data

Problem 5:
Find the torque required to produce a given force as shown in the
figure below.

T=

Fr sin (1 + 2)
cos1

T=

2Fr sin (1 + 2)
cos1

Design Notes:
1. The design should be such that angles 1 and 2 are not permitted
to go to zero degrees.

Design Notes:
1. The design should be such that angles 1 and 2 are not permitted
to go to zero degrees.

2. Force, F, must be less than the bearing capacity of the actuator.

2. Force, F, may be greater than the bearing capacity of the actuator

since it is transmitted through the linkage, and not to the bearing.

REFERENCE DATA
PROPERTIES OF VARIOUS SOLIDS*
Solids

Polar mass
Moment of inertia, Jm

Radius of gyration, K

JAA= m
12

KAA=

KBB=

JBB= m

3
KCC=

JAA= mr2 [1 sin OC cos OC .]

2
OC

KAA= r

JBB= mr2 [1+ sin OC cos OC .]

2
OC

KBB= r

JAA= JBB = ma2

6

W = total weight of the body. m =

.
3

JCC= m 2 sin2 OC
3

* All axes pass through the center of gravity unless otherwise noted.

.
12

sin OC .
3

1/2 1 sin OC cos OC .

OC

1/2 1+ sin OC cos OC .

OC

KAA= KBB= a
6

W
386.4

E-8
4-96

REFERENCE DATA
PROPERTIES OF VARIOUS SOLIDS* (CONTINUED)
Solids

Polar mass
Moment of inertia, Jm

Radius of gyration, K

JAA = m(a2 + b2) .

12

KAA=

a2 + b2 .
12

JBB = m(b2 + c2) .

12

KBB=

b2 + c2 .
12

KAA= r .

JAA= mr2 .
2

JBB= m (3r2 + h2).

12

JAA= m(R2 + r2 ).
2
2
JBB= m(R2 + r2 + h )
3 .
4

JAA= mr2.

E-9
2-90

3r2 + h2 .
12

KAA=

R2 + r2 .
2

KBB=

3R2 + 3r2 + h2 .
12

KAA= r.

JBB= m r2 + h2 .
2
6

KBB=

KBB=

6r2 + h2
12

JAA= m (a2 + b2) .

4

KAA=

a2 + b2 .
2

JBB= m (3b2 + h2) .

12

KBB=

3b2 + h2 .
12

JCC= m (3a2 + h2) .

12

KCC=

3a2 + h2 .
12

* All axes pass through the center of gravity unless otherwise noted.

W = total weight of the body. m =

W
386.4

REFERENCE DATA
PROPERTIES OF VARIOUS SOLIDS* (CONTINUED)
Polar mass
Moment of inertia, Jm

Radius of gyration, K

JAA= 2mr2 .
5

JAA= 2m R5 r5.
5 R3 r3

KAA= 2r .
10

KAA= 2/5

JAA= 2mr2 .
3

R5 r5 .
R3 r3

KAA= 2r .
6

JAA= m (b2 + c2) .

5

KAA=

b2 + c2 .
5

JBB= m (a2 + c2) .

5

KBB=

a2 + c2 .
5

JCC= m (a2 + b2) .

5

KCC=

a2 + b2 .
5

KAA= 1/2

2
JAA= m R2 + 3R .
4

KBB=

2
2
JBB= m R + 5r .
8
2

* All axes pass through the center of gravity unless otherwise noted.

Engineering
Data

Solids

W = total weight of the body. m =

W
386.4

4R2 + 3r2

4R2 + 5r2 .
8

E-10
4-96

REFERENCE DATA
PROPERTIES OF VARIOUS SOLIDS* (CONTINUED)
Solids

Distance to center
of gravity, x

Polar mass
Moment of inertia, Jm

Radius of gyration, K

2
2
JAA= m (a + b ) .
20

x=h .
4

JBB= m (b2 + 3h2).

20
4

KAA=

3r

30

JBB= 3m r2 + h2 .
20
4

x = h (R 2 + 2Rr + 23r ) .
4 (R + Rr + r )

1/80 (4b2 + 3h2).

KBB=

JAA= 3mr .
10

x=h .
4

a2 + b2 .
20

KAA=

KBB=

5
5
JAA= 3m (R - r ) .
3 - r3)
10 (R

KAA=

3/80 (4r2 + h2).

3/10

JAA= mr .
3

KAA=

JBB= m (3r2 + h2).

10

KBB=

(R5 - r5) .
(R3 - r3)

x = 1/3h.

x = 3/8(2r h).

JAA= m (3rh h ) .
5

KAA=

KAA=

1/10 (3r3 + h2).

3rh - h2 .
5

x = 3 (2r h) .
4 (3r h)
For half sphere

JAA=m r2 3rh + 3h2 2h .

4
20 3r - h

x = 3/8 r.
E-11
2-90

* All axes pass through the center of gravity unless otherwise noted.

W = total weight of the body. m =

W
386.4

I.
W

REFERENCE DATA
ABBREVIATIONS:

SYMBOLS:

BTU.

A
a

C
D
E
F

C
CAL.
C. C.
CU. FT.
CU. IN.
F
FPS.
FT.
GAL.
GPM.
HP.
IN.
IPS
K
LB.
MIN.
PSI
REV.
SEC.
SP. GR.

SP. HT.

SP. WT.
SQ. IN.

British Thermal Unit 1 BTU = Heat required to raise

temperature of one pound of water 1F.
Degrees Centigrade
Calorie 1 CAL. = Heat required to raise temperature
of one gram of water 1C.
Cubic Centimeter
Cubic Foot
Cubic Inch
Degrees Fahrenheit
Feet per second
Feet (foot)
U.S. Gallon
Gallons per minute
Horsepower = Work at rate of 33,000 FT. LB./MIN.
Inch(es)
Inches per second
Degrees Kelvin
Pound(s)
Minute(s) of time
Pounds per square inch
Revolutions (of shaft or pump)
Second(s) of time
Specific Gravity Ratio of the weight of a body to the
weight of an equal volume of water at 4C or other specified
temperature.
Specific Heat Ratio of heat required to raise a unit
weight of a substance 1F. to the amount of heat required
to raise an equal weight of water 1F. at a certain
temperature. (Hydraulic oil is approx. 0.45.)
Specific weight or weight density = LB./CU.FT.; LB./CU.
IN. or grams/C.C.
Square inch(es)

f
g
HE
Hg
HP
Hv
L
M

Mf
N
P
P
r
T
U
V
W

Area
Linear acceleration (FPS2), rate of change of velocity
Angular acceleration (Radians per SEC.2)
Compressibility of oil (CU. IN.)
Density, mass per unit volume
Energy
Force, (LB.) an influence which produces or tends to
produce, motion or change of motion.
Coefficient of friction
Acceleration of gravity (IPS2) = 386.4 at sea level
Elevation Head
Mercury
Pressure head (static)
Velocity head
Gallons per minute (GPM)
Mass = W ; or a mass which, with an unbalanced
386.4
force of 1 LB. acting upon it, would have an acceleration
of 1 IPS2
Mechanical friction
Revolutions per minute (RPM)
Pressure differential (DROP)
Pounds per square inch (PSI)
Arm (torque), radius in inches
Torque (inch-pounds)
Velocity (FPS) rate of change of distance (length)
Volume (CU. IN.)
Weight (LB.) force which gravitation exerts on a
material body.

CONVERSION TABLES
TORQUE
IN-LB x .1130 = N-m
N-m x 8.851 = IN-LB
N-m x 9.807 = Kgf-m
Kgf-m x 86.799 = IN-LB

PRESSURE
PSI x .06895 = BAR
BAR x 14.5 = PSI
Kpa x .1450 = PSI
PSI x 6.895 = Kpa

VOLUME
Cubic Inches x 16.39 = CU. CMS
CU. CMS x .06102 = Cubic Inches
Gallon x 3.785 = Liter
Liter x .264 = Gallon
Gallon x 3785 = CU.CMS
CU. CMS x .0002642 = Gallon

MASS
Kg x 2.2046 = Lbs
Lbs x .4536 = Kg
POWER
Hp x .7457 = Kw

E-12
4-96

Engineering
Data

DEFINITIONS, ABBREVIATIONS AND SYMBOLS

REFERENCE DATA
DEFINITIONS BY FORMULAS
ACCELERATION

a = F = Fg
M
W
W
g
Degrees/SEC.2
2
= Radians/SEC. =
57.3
From F = Ma and M =

FORCE
FRICTION
GRAVITY

F = AP
Mf = W xf Note: Static (or breakaway) friction coefficient is greater than kinetic (or moving) friction coefficient
g = 386.4 in. / SEC. 2 (at sea level)

HORSEPOWER

HP =

FU
LP
TN
=
=
550 1714
63,025

MASS

M=

W
W
W
W (grams)
or, at sea level, =
, or =
or
386.4
32.2
g
980

NOTE: Mass is constant regardless of altitude.

ORIFICE AREA

See pressure drop

PRESSURE
P=
PRESSURE DROP

F
(consistent units)
A

For oil hydraulic systems, the following will approximate pressure drop thru short orifice (1/4 to
1/2-inch long-length not over 3 times diameter)
2
P = 0.001056L
A2

For specified pressure drop:

0.0325L
A (required) =
P

RADIAN

Arc (of circle) = Length of radius (see velocity, angular)

In degrees = 360 = 180 = 57.3
2

SPRING RATE

F
Distance compressed (or stretched) where distance is from the free length.

TORQUE

T=F x r = HP x 63.025 = CU. IN. /REV x P

N
2

VELOCITY,
Angular
Flow

E-13
2-90

Radians/SEC. = Degrees/SEC.
57.3
L
U=0.321
A

Micro-Precision

VALVE OPENCLOSE

Engineering
Data

FLOW RATE DATA

GUIDE TO SIZE

MIXSTIR

TURNOVERDUMP

FLOW RATE
FORMULAS
LOADPOSITIONUNLOAD

GMP = 3.117 AV
RPS =

.0333 AV
D

Rad/Sec = 2 (RPS)
GPM = Gallons per minute

CONTINUOUS ROTATION

RPS = Revolutions per second

Rad/Sec = Radians per second
Where:
A = Port area (in2)
V = Flow velocity in feet per sec.
= Amount of rotation (degrees)
D = Total displacement of actuator (in3)

TURNOSCILLATE

MATERIAL HANDLING

E-14
4-96

FLOW RATE DATA

HIGH PRESSURE

MEDIUM PRESSURE

MODEL
MPJ-11-1V
-2V
MPJ-22-1V
-2V
MPJ&R-32-1V
-2V
MPJ&R-34-1V
-2V
MPJ&R-63-1V
-2V
MPJ&R-84-1V
-2V
MPJ&R-105-1V
-2V
MPJ-116-1V
-2V
MPJ-128-1V
-2V
SS-1-1V
-2V
SS-4-1V
-2V
SS-8-1V
SS-12-1V
-2V
SS-25-1V
SS-40-1V
-2V
SS-65-1V
-2V
SS-130-1V
-2V
26R-2-1V
-2V
26R-5-1V
-2V
26R-10-1V
-2V
26R-17-1V
-2V
26R-31-1V
-2V
26R-62-1V
-2V
26R-124-1V
-2V
HS-1.5-1V
HS-2.5-1V
HS-4.0-1V
HS-6.0-1V
HS-10-1V
HS-15-1V
SS-.2A-1V
SS-.5A-1V
-2V
SS-1A-1V
-2V
SS-4A-1V
-2V
SS-8A-1V

SAE
STRAIGHT
THREAD
PORT SIZE

PORT
DIAMETER
TUBE
I.D.

E-15
6-91

ACTUATOR
DISPLACEMENT

PORT
AREA
(IN2)

3/8-24

.117

.0107

1/2-20

.187

.0275

7/8-14

.435

.1493

7/8-14

.435

.1493

1 1/16-12

.532

.2223

1 5/16-12

.760

.4537

1 5/8-12

1.01

.8012

1 7/8-12

1.26

1.247

1 7/8-12

1.26

1.247

7/16-20

.152

.0182

9/16-18

.245

.0472

9/16-18

.245

.0472

3/4-16

.334

.0876

7/8-14

.435

.1493

1 5/16-12

.760

.4537

1 5/16-12

.760

.4537

1 5/8-12

1.010

.8012

3/4-16

.334

.0876

3/4-16

.334

.0876

7/8-14

.435

.1493

1 1/16-12

.532

.2223

1 5/16-12

.760

.4537

1 5/16-12

.760

.4537

1 7/8-12

1.26

1.247

9/16-18
9/16-18
9 16-18
3/4-16
3/4-16
3/4-16

.245
.245
.245
.334
.334
.334
.125

.0472
.0472
.0472
.0876
.0876
.0876
.0123

3/8-24

.117

.0107

7/16-20

.152

.0182

7/16-20

.152

.0182

9/16-18

.245

.0472

NOTE: INLET HOLE DIA. IN MPJ-22 & SS-.2A UNITS

FLOW RATE AND

ANGULAR VELOCITY
AT 10 FPS
OIL VELOCITY

IN3
TOTAL

IN3
RADIAN

.835
.557
3.820
2.560
9.2
6.6
18.4
13.0
53.3
38.0
127.4
91.0
253.3
181.0
412.9
295.0
588.4
420.3
5.86
4.19
18.62
13.29
39.09
60.84
43.46
43.46
195.46
139.62
317.63
226.88
635.25
453.75
9.35
6.67
21.20
15.10
49.30
35.40
82.60
59.00
199.50
106.80
304.00
217.00
598.00
427.00
7.33
12.22
19.55
31.08
46.62
73.30
.98
2.20
1.57
5.86
4.19
18.62
13.29
39.09

.178
.357
.815
1.631
1.88
3.78
3.76
7.44
10.90
21.77
26.07
52.14
51.83
103.71
84.50
169.04
120.41
240.83
1.20
2.40
3.81
7.62
8.00
12.45
29.90
24.90
40.00
80.00
65.00
130.00
130.00
260.00
1.91
3.82
4.34
8.68
10.12
20.24
16.90
33.80
30.60
61.20
62.20
124.40
122.00
244.00
1.50
2.50
4.00
6.36
9.54
15.00
.20
.45
.90
1.20
2.40
3.81
7.62
8.00

GPM

RAD/SEC

RPS

.33

7.22
3.52
4.07
2.02
9.47
4.72
4.74
2.40
2.44
1.22
2.09
1.04
1.85
.93
1.77
.88
1.24
.62
1.82
.91
1.48
.74
.71
.84
.42
2.00
1.36
.68
.84
.42
.74
.37
5.50
2.74
2.42
1.21
1.76
.88
1.58
.79
1.78
.89
.88
.44
1.22
.61
3.77
2.26
1.41
1.65
1.10
.70
7.34
2.87
1.43
1.82
.91
1.48
.74
.71

1.15
.56
.65
.32
1.51
.75
.75
.38
.39
.19
.33
.17
.29
.15
.28
.14
.20
.10
.29
.14
.24
.12
.11
.13
.07
.32
.22
.11
.13
.07
.12
.06
.87
.44
.39
.19
.28
.14
.25
.13
.28
.14
.14
.07
.19
.10
1.30
.36
.23
.26
.18
.11
1.17
.46
.23
.29
.14
.24
.12
.11

.86
4.63
4.63
6.93
14.14
24.97
38.87
38.87
.57
1.47
1.47
2.73
4.63
14.14
14.14
24.97
2.73
2.73
4.63
6.93
14.14
14.14
38.87
1.47
1.47
1.47
2.73
2.73
2.73
.38
.34
.57
1.47
1.47

FLOW RATE AND

ANGULAR VELOCITY
AT 15 FPS
OIL VELOCITY

TIME
(SEC.)
PER
STROKE

.65
.45
1.16
.78
.52
.37
1.03
.73
1.99
1.42
2.34
1.63
2.63
1.85
2.76
1.98
3.93
2.78
2.69
1.92
3.29
2.35
6.91
5.79
4.13
2.44
3.59
2.56
5.83
4.17
6.61
4.72
.89
.63
2.02
1.96
2.78
1.98
3.10
2.14
2.75
1.98
5.58
3.99
4.09
2.78
.93
2.16
3.46
2.95
4.43
6.97
.67
1.71
1.22
2.69
1.92
3.29
2.35
6.91

GPM

RAD/SEC

RPS

.50

10.87
5.43
6.10
3.03
14.2
7.07
7.10
3.59
3.67
1.84
3.13
1.57
2.78
1.39
2.66
1.33
1.86
.93
2.72
1.36
2.23
1.11
1.06
1.27
.63
3.01
2.04
1.02
1.26
.63
1.11
.55
8.24
4.13
3.63
1.82
2.64
1.32
2.37
1.18
2.67
1.33
1.31
.66
1.83
.92
5.66
3.39
2.12
2.48
1.65
1.05
11.02
4.30
2.15
2.72
1.36
2.23
1.11
1.06

1.73
.86
.97
.48
2.26
1.13
1.13
.57
.58
.29
.50
.25
.44
.22
.42
.21
.30
.15
.43
.22
.35
.18
.17
.20
.10
.48
.32
.16
.20
.10
.18
.09
1.31
.66
.58
.29
.42
.21
.38
.19
.42
.21
.21
.10
.29
.15
.90
.54
.34
.39
.26
.17
1.75
.68
.34
.43
.22
.35
.18
.17

1.28
6.95
6.95
10.39
21.21
37.96
58.30
58.30
.85
2.20
2.20
4.10
6.95
21.21
21.21
37.46
4.10
4.10
6.95
10.39
21.21
21.21
58.30
2.20
2.20
2.20
4.10
4.10
4.10
.57
.50
.85
2.20
2.20

TIME
(SEC.)
PER
STROKE

.43
.29
.77
.52
.34
.25
.69
.49
1.33
.95
1.56
1.11
1.76
1.26
1.84
1.31
2.62
1.87
1.79
1.28
2.19
1.57
4.60
3.86
2.76
1.62
2.39
1.71
3.89
2.79
4.40
3.15
.59
.42
1.34
.96
1.85
1.32
2.06
1.47
1.83
1.31
3.72
2.66
2.66
1.90
.86
1.44
2.30
1.97
2.96
4.65
.44
1.14
.81
1.79
1.28
2.19
1.57
4.60

HIGH PRESSURE

MPJ-11-1V
-2V
MPJ-22-1V
-2V
MPJ&R-32-1V
-2V
MPJ&R-34-1V
-2V
MPJ&R-63-1V
-2V
MPJ&R-84-1V
-2V
MPJ&R-105-1V
-2V
MPJ-116-1V
-2V
MPJ-128-1V
-2V
SS-1-1V
-2V
SS-4-1V
-2V
SS-8-1V
SS-12-1V
-2V
SS-25-1V
SS-40-1V
-2V
SS-65-1V
-2V
SS-130-1V
-2V
26R-2-1V
-2V
26R-5-1V
-2V
26R-10-1V
-2V
26R-17-1V
-2V
26R-31-1V
-2V
26R-62-1V
-2V
26R-124-1V
-2V
HS-1.5-1V
HS-2.5-1V
HS-4.0-1V
HS-6.0-1V
HS-10-1V
HS-15-1V
SS-.2A-1V
SS-.5A-1V
-2V
SS-1A-1V
-2V
SS-4A-1V
-2V
SS-8A-1V
ABBREVIATIONS

ACTUATOR
DISPLACEMENT
PORT
AREA
(IN2)

3/8-24

.117

.0107

1/2-20

.187

.0275

7/8-14

.435

.1493

7/8-14

.435

.1493

1 1/16-12

.532

.2223

1 5/16-12

.760

.4537

1 5/8-12

1.01

.8012

1 7/8-12

1.26

1.247

1 7/8-12

1.26

1.247

7/16-20

.152

0.182

9/16-18

.245

.0472

9/16-18

.245

.0472

3/4-16

.334

.0876

7/8-14

.435

.1493

1 5/16-12

.760

.4537

1 5/16-12

.760

.4537

1 5/8-12

1.010

.8012

3/4-16

.334

.0876

3/4-16

.334

.0876

7/8-14

.435

.1493

1 1/16-12

.532

.2223

1 5/16-12

.760

.4537

1 5/16-12

.760

.4537

1 7/8-12

1.26

1.247

9/16-18
9/16-18
9/16-18
3/4-16
3/4-16
3/4-16

.245
.245
.245
.334
.334
.334
.125

.0472
.0472
.0472
.0876
.0876
.0876
.0123

3/8-24

.117

.0107

7/16-20

.152

.0182

7/16-20

.152

.0182

9/16-18

.245

.0472

GPM - GALLONS PER MINUTE

IN3
TOTAL

IN3
RADIAN

.835
.557
3.820
2.560
9.2
6.6
18.4
13.0
53.3
38.0
127.4
91.0
253.3
181.0
412.9
295.0
588.4
420.3
5.86
4.19
18.62
13.29
39.09
60.84
43.46
43.46
195.46
139.62
317.63
226.88
635.25
453.75
9.35
6.67
21.20
15.10
49.30
35.40
82.60
59.00
199.50
106.80
304.00
217.00
598.00
427.00
7.33
12.22
19.55
31.08
46.62
73.30
.98
2.20
1.57
5.86
4.19
18.62
13.29
39.09

.178
.357
.815
1.631
1.88
3.78
3.76
7.44
10.90
21.77
26.07
52.14
51.83
103.71
84.50
169.04
120.41
240.83
1.20
2.40
3.81
7.62
8.00
12.45
29.90
24.90
40.00
80.00
65.00
130.00
130.00
260.00
1.91
3.82
4.34
8.68
10.12
20.24
16.90
33.80
30.60
61.20
62.20
124.40
122.00
244.00
1.50
2.50
4.00
6.36
9.54
15.00
.20
.45
.90
1.20
2.40
3.81
7.62
8.00

FPS - FEET PER SECOND

GPM

.67
1.71
9.26
9.26
13.85
28.28
49.95
77.73
77.73
1.13
2.94
2.94
5.46
9.26
28.28
28.28
49.96
5.46
5.46
9.26
13.86
28.28
28.28
77.73
2.94
2.94
2.94
5.46
5.46
5.46
.77
.67
1.13
2.94
2.94

RAD/SEC

RPS

14.95
7.22
8.13
4.04
18.95
9.43
9.47
4.79
4.89
2.45
4.18
2.09
3.71
1.85
3.54
1.77
2.49
1.24
3.63
1.81
2.97
1.49
1.41
1.69
.84
4.01
2.72
1.36
1.68
.84
1.48
.74
10.99
5.50
4.85
2.43
3.52
1.76
3.16
1.58
3.56
1.78
1.75
.88
2.45
1.22
7.45
4.52
2.83
3.31
2.20
1.40
14.69
5.73
2.87
3.63
1.81
2.97
1.49
1.41

2.30
1.15
1.29
.64
3.02
1.50
1.51
.76
.79
.39
.66
.33
.59
.30
.56
.28
.40
.20
.58
.29
.47
.24
.23
.27
.13
.64
.43
.22
.27
.13
.24
.12
1.75
.88
.77
.39
.56
.28
.50
.25
.57
.28
.28
.14
.39
.19
1.20
.72
.45
.53
.35
.22
2.34
.91
.47
.58
.29
.47
.24
.23

RPS - REVOLUTIONS PER SECOND

FLOW RATE AND

ANGULAR VELOCITY
AT 25 FPS
OIL VELOCITY

TIME
(SEC.)
PER
STROKE

GPM
.33
.22
.56
.39
.26
.19
.52
.36
1.00
.71
1.17
.84
1.32
.94
1.38
.99
1.97
1.40
1.35
.96
1.65
1.17
3.45
2.89
2.07
1.22
1.80
1.28
2.92
2.08
3.30
2.36
.44
.32
1.01
.72
1.39
.99
1.55
1.10
1.37
.98
2.79
1.99
2.00
1.43
.65
1.08
1.73
1.48
2.22
3.49
.33
.85
.61
1.35
.96
1.65
1.17
3.45

.83
2.14
11.58
11.58
17.32
35.35
62.43
97.16
97.16
1.41
3.67
3.67
6.83
11.58
35.35
35.35
62.43
6.83
6.83
11.58
17.32
35.35
35.35
97.16
3.67
3.67
3.67
6.83
6.83
6.83
.96
.84
1.41
3.67
3.67

RAD/SEC

RPS

18.10
9.05
10.16
5.06
23.68
11.79
11.84
5.99
6.11
3.06
5.22
2.61
4.64
2.32
4.43
2.21
3.11
1.55
4.54
2.27
3.71
1.86
1.77
2.11
1.06
5.01
3.40
1.70
2.09
1.05
1.85
.92
13.74
6.88
6.06
3.04
4.40
2.20
3.95
1.97
4.45
2.22
2.19
1.09
3.06
1.53
9.43
5.66
3.54
4.13
2.76
1.75
18.36
7.16
3.59
4.54
2.27
3.71
1.86
1.77

2.88
1.44
1.62
.80
3.77
1.88
1.88
.95
.97
.49
.83
.42
.74
.37
.70
.35
.49
.25
.72
.36
.59
.30
.28
.34
.17
.80
.54
.27
.33
.17
.29
.15
2.19
1.09
.96
.48
.70
.35
.63
.31
.71
.35
.35
.17
.49
.24
1.50
.90
.56
.66
.44
.28
2.92
1.14
.57
.72
.36
.59
.30
.28

TIME
(SEC.)
PER
STROKE

.26
.17
.46
.31
.21
.15
.41
.29
.80
.57
.94
.67
1.05
.75
1.10
.79
1.57
1.12
1.08
.77
1.32
.94
2.76
2.31
1.65
.97
1.44
1.03
2.33
1.67
2.64
1.89
.36
.25
.81
.57
1.11
.79
1.24
.88
1.10
.78
2.23
1.59
1.60
1.14
.52
.86
1.38
1.18
1.77
2.79
.27
.68
.47
1.08
.77
1.32
.94
2.76

RAD/SEC - RADIANS PER SECOND

E-16
4-96

Engineering
Data

MEDIUM PRESSURE

MODEL

SAE
STRAIGHT
THREAD
PORT SIZE

PORT
DIAMETER
TUBE
I.D.

FLOW RATE AND

ANGULAR VELOCITY
AT 20 FPS
OIL VELOCITY

E-17

4-96

5000

7500

10000

12250

15000

20000

30000

40000

50000

60000

70000

80000

90000

100000

125000

150000

175000

200000

225000

250000

300000

350000

400000

450000

500000

550000

600000

650000

700000

750000

Inch Lbs

Torque

SS-130

SS-130

SS-40
MP-105

SS-65
MP-116

MP-128

SS-130

SS-40
MP-105

SS-65

MP-116

SS-130

MP-4
26R-4
SS-4
HS-4
LW-4
R-4

SEE PAGES
MP-1
26R-1
SS-1
HS-1
LW-1
R-1

MID PRESSURE

SS-65
MP-128

SS-130

MP
26R
SS
HS
SSA
Rotating

MODEL

SS-130

HS-15
SS-12
26R-17

SS-25
26R-31
105

SS-40
MP-105

SS-65
26R-62

MP-116

MP-128
26R-124

UP TO 1500 PSI

SS-25

SS-40
26R-62,MP-

SS-65
MP-116

26R-124
MP-128

SS-130

Note: Having determined pressure and

torque requirements for your
applications, use this guide to size
to assist in model selections.
See appropriate catalog for
complete data.

SS-130

HS-10,MP-63
SS-8
SS-8A,26R-10

MP-84

HS-15

SS-40
SS-25
26R-31
MP-84

26R-62
MP-105

SS-65

MP-116

26R-124
MP-128

SS-12
26R-17
SS-8A
SS-8
HS-6

SS-12

HS-15

26R-17

SS-40
SS-25
26R-31
MP-84

MP-105

SS-65
26R-62

MP-116

SS-130
26R-124
MP-128

SS-8A
SS-8
HS-4,26R-5
SS-4A
SS-4

HS-10
SS-8A
SS-8
26R-10

SS-12

HS-15
26R-17

SS-25
26R-31

SS-40

26R-62

SS-65

HIGH PRESSURE

HS-6

HS-10
26R-10
HS-10
26R-10
MP-63

SS-12

HS-15
26R-17

SS-25

26R-31

SS-40

26R-62

SS-65

26R-124

SS-130

26R-124

SS-130

HS-6

HS-10
SS-12
SS-8
SS-8A
26R-10

HS-15
26R-17

SS-25

26R-31

SS-40

26R-62

SS-65

26R-124

SS-130

HS-6
SS-4A
SS-4
HS-4,26R-5

SINGLE VANE UNITS GUIDE TO SIZE

HS-21/2

26R-5

HS-6

SS-8A
SS-8
26R-10,HS-10

SS-12

HS-15
26R-17

SS-25
26R-31

SS-40

26R-62

SS-65

26R-124

UP TO 3000 PSI

SS-4A
SS-4
HS-4

SS-8A
SS-8

HS-10
26R-10

HS-15
SS-12

26R-17

SS-25

26R-31

SS-40

SS-65
26R-62

26R-124

SS-130

SS-130

HS-21/2

SS-4A
HS-4
26R-5,SS-4

HS-6

SS-8

HS-15
26R-17
HS-10
SS-12
26R-10

SS-25

26R-31

SS-40

SS-65
26R-62

SS-130
26R-124

HS-21/2

26R-5
HS-4
SS-4
26R-5

HS-6
SS-8

HS-10
26R-10

HS-15
SS-12

26R-17

SS-25

26R-31

SS-40

26R-62

SS-65

26R-124

SS-130

HS-21/2
26R-2

HS-4
SS-4

SS-4
HS-4
26R-5

HS-6

SS-12
HS-10
SS-8
26R-10

HS-15
26R-17

SS-25

26R-31

SS-40

26R-62

SS-65

26R-124

SS-130

PSI

10

15

20

25

30

35

40

60

80

100

200

300

400

500

600

700

800

900

1000

1250

1500

1750

2000

2500

3000

3500

4000

4500

20

40

60

MP-11

MP-22

MP-32

HS-11/2
SS-1A
SS-1
MP-34

HS-2 /2
MP-63

HS-6
SS-4A
HS-4
SS-4

HS-10
SS-8A
SS-8
MP-84

SS-12

HS-15

MP-105

SS-25
MP-116

SS-40
MP-128

SS-65

80

MP-11

MP-22

MP-32

SS-1A
SS-1

HS-1 /2
MP-34
1

MP-63
SS-4A
HS-4
SS-4

HS-6

SS-8A
SS-8

HS-10

SS-12

MP-84

HS-15

SS-25
MP-105

SS-40
MP-116

MP-128

SS-65

150

MP-11

SS-2A

SS-5A

MP-22

SS-1A,SS-1
MP-32

HS-11/2

HS-21/2
MP-34

SS-4A
SS-4
HS-4

HS-6

SS-8A,SS-8
MP-63

HS-10

SS-12

HS-15

MP-84

SS-25

MID PRESSURE

100

MP-11

MP-22

HS-1-1/2,SS-1
SS-1A,MP-32

HS-21/2
MP-34

SS-4A
HS-4
SS-4

HS-6

MP-63

SS-8A
SS-8

HS-10

SS-12

HS-15
MP-84

SS-25

MP-105

SS-40

MP-116

200

MP-11

SS-2A

SS-5A

MP-22

SS-1A,SS-1
HS-11/2
MP-32

HS-2 /2
1

MP-34

SS-4A
SS-4

HS-4

HS-6

SS-8A
SS-8

HS-10
MP-63

SS-12

HS-15

MP-84

SS-25

500

MP-11

SS-2A

SS-5A

MP-22

SS-1A
SS-1

HS-11/2
26R-2

MP-32

HS-21/2

26R-5
MP-34

SS-4A
SS-4

HS-4

HS-6

26R-10

SS-8A
SS-8

UP TO 1500 PSI

250

MP-11

SS-2A

SS-5A

MP-22
26R-2

SS-1A
SS-1

HS-11/2
MP-32

26R-5

HS-21/2

MP-34

SS-4A
SS-4

HS-4

26R-10

HS-6

HS-10
SS-8A,SS-8
26R-17
MP-63

SS-12

HS-15

26R-31

MP-84

HS-10
MP-63

750

MP-11

SS-2A

SS-5A

MP-22

SS-1A
SS-1

HS-11/2
26R-2
MP-32

HS-21/2

26R-5
MP-34

SS-4A
SS-A
HS-4

HS-6

1000

MP-11
SS-2A

SS-5A

MP-22

SS-1A
SS-1

HS-11/2

MP-32

26R-2

HS-21/2

HS-4
26R-5
SS-4A
SS-4
MP-34

1500

SS-2A

SS-5A

SS-1A
HS-11/2
SS-1

26R-2

HS-21/2

HIGH PRESSURE

1250

SS-2A

SS-5A

SS-1A
SS-1

HS-11/2

26R-2

HS-21/2

HS-4
SS-4A
SS-4
26R-5

1750

SS-2A

SS-5A

SS-1A
SS-1

HS-11/2

26R-2

HS-21/2

2250

SS-2A

SS-5A

SS-1A
SS-1

HS-11/2

26R-2

UP TO 3000 PSI

2000

SS-2A

SS-5A

SS-1A
SS-1

HS-11/2

26R-2

HS-21/2

2500

SS-2A

SS-1
26R-2

HS-11/2

2750

SS-2A

SS-1

HS-11/2

26R-2

3000

SS-2A

SS-1

HS-11/2

5000

7500

10000

12250

15000

20000

30000

40000

50000

60000

70000

80000

90000

100000

125000

150000

175000

200000

225000

250000

300000

350000

400000

450000

500000

550000

600000

650000

700000

750000

Inch Lbs

Torque

SS-65

SS-130

SS-40
MP-116

MP-128

SS-130

MP-84

SS-40
MP-105

SS-65
MP-116

MP-128

SS-130

MP-1
26R-1
SS-1
HS-1
LW-1
R-1

MP-84

SS-40
MP-105

SS-65
MP-116

MP-128

SS-130

MP-4
26R-4
SS-4
HS-4
LW-4
R-4

SEE PAGES

MID PRESSURE

MP-105

SS-40

MP-116

SS-65
MP-128

SS-130

MP
26R
SS
HS
SSA
Rotating

MODEL

26R-10

MP-63

SS-12
26R-17

26R-31
MP-84

UP TO 1500 PSI

SS-12

26R-31
MP-84

SS-40
26R-62
MP-105

SS-40

MP-128
SS-65
26R-124
MP-116

SS-4A
SS-4
26R-5

26R-10

MP-63

SS-12

26R-17

26R-31
MP-84

SS-40

MP-105

26R-62

SS-65

SS-65
MP-116

MP-116

SS-130

SS-4A
SS-4
MP-34

26R-5

26R-10
MP-63

SS-12

26R-17

MP-84

26R-31

SS-40

MP-105

SS-4A
SS-4
26R-5

26R-10

SS-12

26R-17

26R-31

SS-40

HIGH PRESSURE

SS-4A
SS-4
26R-5

SS-12
26R-10

26R-17

26R-31

SS-40

26R-62

26R-62

SS-65
26R-62

SS-65
SS-65

26R-124

26R-124

SS-130
MP-116

MP-128

26R-124

SS-130

SS-130

SS-130

26R-124
MP-128

26R-124
MP-128

26R-62
MP-105

SS-130

Note: Having determined pressure and

torque requirements for your
applications, use this guide to size
to assist in model selections.
See appropriate catalog for
complete data.
SS-130

26R-2

SS-4A
SS-4
26R-5

26R-10

SS-12

26R-17

26R-31

SS-40

26R-62

S-65

26R-124

DOUBLE VANE UNITS GUIDE TO SIZE

SS-1A
SS-1

26R-2

SS-4A
SS-4
26R-5

26R-10

SS-12

26R-17

26R-31

SS-40

SS-65
26R-62

26R-124

UP TO 3000 PSI

26R-2

SS-4A
SS-4

26R-5

26R-10

SS-12

26R-17

26R-31

SS-40

SS-65
26R-62

SS-130
26R-124

SS-130

SS-1

26R-2

SS-4
26R-5

26R-10

SS-12

26R-17

26R-31

SS-40

26R-62

SS-65

26R-124

SS-130

SS-1

26R-2

SS-4

26R-5

26R-10

SS-12

26R-17

26R-31

SS-40

SS-65
26R-62

26R-124

SS-130

SS-1

26R-2

SS-4
26R-5

26R-10

SS-12

26R-17

26R-31

SS-40

SS-65
26R-62

26R-124

SS-130

E-20

4-96

PSI

10

15

20

25

30

35

40

60

80

100

200

300

400

500

600

700

800

900

1000

1250

1500

1750

2000

2500

3000

3500

4000

4500

20

40

60

MP-11

MP-22

MP-32

SS-1A, SS-1
MP-34

SS-4A
SS-4
MP-63

MP-84

SS-12

MP-105

MP-116

SS-40
MP-128

80

MP-11

MP-22

MP-34
SS-1A
SS-1
MP-32

SS-4A
SS-4

MP-63

SS-12
MP-84

MP-105

150

MP-11

SS-5A
MP-22

SS-1A
SS-1
MP-32

MP-34

SS-4A
SS-4

MP-63

MID PRESSURE

100

MP-11

MP-22

SS-1A, SS-1
MP-32

MP-34

SS-4A
SS-4

MP-63

SS-12

MP-84

SS-12

200

MP-11

SS-5A

MP-22

SS-1A
SS-1

MP-32

MP-34

SS-4A
SS-4

MP-63

SS-8

500

MP-11

SS-5A

MP-32

SS-1A
SS-1
26R-2

MP-32

26R-5

MP-34

SS-4A
SS-4

UP TO 1500 PSI

250

MP-11

SS-5A

26R-2
MP-22

SS-1A
SS-1

MP-32

26R-5

MP-34

SS-4A
SS-4

26R-10

MP-63

26R-17

750

MP-11

SS-5A

MP-22

SS-1A
SS-1

26R-2
MP-32

MP-34

1000

MP-11

1250

SS-5A

SS-1A
SS-1

1500

SS-5A

SS-1A
SS-1

HIGH PRESSURE

SS-5A

MP-22

SS-1A
SS-1

MP-32

26R-2

26R-2

26R-2

1750

SS-5A

SS-1A
SS-1

2250

SS-5A

UP TO 3000 PSI

2000

SS-5A

SS-1A
SS-1

2500

2750

3000

NOTES

E-21
6-91

125

SEAL INFORMATION

HERCULES PART NUMBERS

MATERIAL

90 A URETHANE

TEMPERATURE
RANGE

-65 TO +220 F

HW 0500

Type of
Wiper

Size

NOTE: V suffix designates fluorocarbon material. N suffix designates nitrile material.

Part
Number

A - Rod B - O.D.
C - Base
Diameter Wiper Thickness

List
Price

HW-0500 ................1/2 ................13/16................ .194 ............$ 1.88

HW-0500N ............1/2 ................13/16................ .194 ................1.75
HW-0500V ..............1/2 ................13/16................ .194 ................6.50
HW-0625 ................5/8 ................15/16................ .194 ................2.11
HW-0625-1 ............5/8 ................1 ...................... .203 ................2.11
HW-0625-1N ..........5/8 ................1 ...................... .203 ................2.11
HW-0625-2N ..........5/8 ................15/16................ .194 ................2.11
HW-0625N ............5/8 ................15/16................ .194 ................2.11
HW-0625V ............5/8 ................15/16................ .194 ................7.17
HW-0750 ................3/4 ................1-1/16 .............. .194 ................2.11
HW-0750N ............3/4 ................1-1/16 .............. .194 ................2.11
HW-0875 ................7/8 ................1-1/4 ................ .212 ................2.15
HW-1000 ................1 ..................1-3/8 ................ .212 ................2.19
HW-1000N ............1 ..................1-3/8 ................ .212 ................2.19
HW-1000V ............1 ..................1-3/8 ................ .212 ................7.72

Part
Number

A - Rod B - O.D.
C - Base
Diameter Wiper Thickness

List
Price

HW-2500N ............2-1/2 ............3 ...................... .275 ............$ 2.97

HW-2500V ............2-1/2 ............3.........................275 ..............12.06
HW-2625 ................2-5/8 ............3-1/8 ................ .275 ................4.01
HW-2750 ................2-3/4 ............3-1/4 ................ .275 ................4.31
HW-3000 ................3 ..................3-1/2 ................ .275 ................4.84
HW-3000N ............3 ..................3-1/2 ................ .275 ................4.84
HW-3000V ............3 ..................3-1/2 ................ .275 ..............15.31
HW-3250 ................3-1/4 ............3-3/4 ................ .275 ................5.45
HW-3500 ................3-1/2 ............4 ...................... .275 ................5.73
HW-3500N ............3-1/2 ............4 ...................... .275 ................5.79
HW-3500V ............3-1/2 ............4 ...................... .275 ..............19.30
HW-3750 ................3-3/4 ............4-1/4 ................ .275 ................6.15
HW-4000 ................4 ..................4-1/2 ................ .275 ................6.34
HW-4000N ............4 ..................4-1/2 ................ .275 ................6.35
HW-4000V ............4 ..................4-1/2...................275 ..............21.32

HW-1125 ................1-1/8
HW-1250 ................1-1/4
HW-1250N ............1-1/4
HW-1375 ................1-3/8
HW-1375N ............1-3/8

............1-1/2 ................ .212 ................2.27

............1-5/8 ................ .212 ................2.44
............1-5/8...................212 ................2.44
............1-3/4 ................ .212 ................2.64
............1-3/4 ................ .212 ................2.50

HW-1375V ............1-3/8
HW-1500 ................1-1/2
HW-1500N ............1-1/2
HW-1501 ................1-3/4
HW-1625 ................1-5/8
HW-1750 ................1-3/4

............1-3/4...................212 ..............14.09
............1-7/8 ................ .212 ................2.80
............1-7/8 ................ .212 ................2.80
............2-1/8 ................ .168 ................6.15
............2 ...................... .212 ................2.87
............2-1/8 ................ .212 ................2.98

HW-4750 ................4-3/4 ............5-1/4 ................ .275 ..............16.68

HW-5000 ................5 ..................5-1/2 ................ .275 ................8.32
HW-5000N ............5 ..................5-1/2 ................ .275 ................6.71
HW-5000V ............5 ..................5-1/2 ................ .275 ..............23.15
HW-5500 ................5-1/2 ............6 ...................... .275 ..............11.56

HW-1750N ............1-3/4 ............2-1/8 ................ .212 ................2.98

HW-1750V ............1-3/4 ............2-1/8 ................ .212 ..............21.07
HW-1875 ................1-7/8 ............2-1/4 ................ .212 ................1.79
HW-2000 ................2 ..................2-3/8 ................ .212 ................3.40
HW-2000N ............2 ..................2-3/8...................212 ................3.40

HW-5500N ............5-1/2 ............6 ...................... .275 ................5.81

HW-5500V ............5-1/2 ............6 ...................... .275 ..............25.36
HW-6000V ............6 ..................6-1/2 ................ .275 ..............27.56
HW-7000 ................7 ..................7-1/2 ................ .275 ..............14.94
HW-8000 ................8 ..................8-1/2 ................ .275 ..............26.11

HW-4250 ................4-1/4 ............4-3/4 ................ .275 ................6.51

HW-4430 ................4-7/16 ..........4-15/16 ............ .275 ................6.60
HW-4500 ................4-1/2 ............5 ...................... .275 ................7.04
HW-4500N ............4-1/2 ............5 ...................... .275 ................5.11
HW-4500V ............4-1/2 ............5.........................275 ..............21.92

HW-2000V ............2 ..................2-3/8...................212 ..............10.90

HW-2125 ................2-1/8 ............2-1/2 ................ .212 ................3.53
HW-2250 ................2-1/4 ............2-3/4 ................ .275 ................3.58
HW-2375N ............2-3/8 ............2-7/8 ................ .275 ................3.21
HW-2500 ................2-1/2 ............3 ...................... .275 ................3.77

NORTH AMERICA
PHONE 1-800-777-5617
FAX 1-800-759-6391

SALES OFFICE HOURS

8 A.M. TO 8 P.M. EASTERN TIME
www.herculeshydraulics.com

WORLDWIDE
PHONE 1-727-796-1300
FAX 1-727-797-8849

WIPER RINGS

STYLE HW URETHANE WIPER RINGS

Propiedades

Polytec 1000 (Acetal)

P.V.C. Flexible

P.V.C. Rgido

Tefln

8800

1500 - 3500

6000 - 7500

2000 - 5000

1-Resistencia a la traccin
2-Elongacin %

40 - 75

200 - 450

40 - 80

200 - 400

3-Resistencia a la compresin

16000

900 - 1700

8000 - 13000

1700

4-Resistencia a la flexin

13000

10000 - 16000

50 - 100

D65 - 85

D50 - 55
shore

5-Dureza Rockwell

M70 - 80

shore A

shore

6-Mdulo de flexin

3,75

3,5

7-Mdulo de traccin

4,1

3.5 - 6.0

0,58

8-Mdulo de compresin

4,5

9-Peso especfico

1,41

1.16 - 1.35

1.30 - 1.58

2.14 - 2.20

10-Conductividad trmica

5,5

3,4

3.5 - 5.0

11-Calor especfico

0,35

0.3 - 0.5

0.25 - 0.35

0,25

12-Resistencia al calor contnuo

104

66 - 79

54 - 79

260

13-Temperatura de distorcin

110

60 - 70

264 P.S.I.

158

57 - 82

121
> 10E16

66 P.S.I.
14-Resistencia especfica

1 x 10E11

10E11 - 10E13

> 10E16

15-Resistencia dielctrica de ruptura

500

300 - 400

350 - 500

480

16-Constante dielctrica 60 ciclos

3,7

5,9

3.2 - 4.0

< 2.1

17-Resistencia arco voltaico

240

60 - 80

> 300

0,22

0.15 - 0.75

0.04 - 0.40

Leve ablandamiento

Varia conf. estabilizador

Varia conf. formulacin

Ninguna

Resiste a algunos

Buena

Buena

Buena
Buena

18-Absorcin de agua (24 hs. 1/8" esp.)

19-Efecto de los rayos solares
20-Resistencia a los cidos leves
21-Resistencia a los cidos fuertes

Atacado

Buena a razonable

Buena a razonable

22-Resistencia a las bases dbiles

Buena

Buena

Buena

Buena

23-Resistencia a bases fuertes

Buena

Buena

Buena

Buena

Excelente

(l)

(l)

Buena

187

160

42

24-Resistencia a solventes orgnicos

25-Prdida por abrasin

(a) Atacado solamente por alta concentracin de cidos oxidantes.

(b) Atacado por NH3
(c) Soluble en acetona, esteres, aromatizantes e hidrocarburos
(d) Resiste a varios solventes a temperaturas < 80 C
(e) Los Nylons se tornan quebradizos despus de una prolongada exposicin a la luz del sol. Consulte sobre nylon negro para mayor resistencia
(f) Resistente a los solventes comunes, m disueltos por fenoles y cido frmico
(g) Sufre pequeo cambio de color, se torna levemente quebradizo
(h) Resiste a las parafinas, soluble en aromticos e hidrocarburos clorados
(i) Pequea prdida de resistencia. Levemente amarillento
(j) Soluble en aromticos e hidrocarburos clorados a 60 - 93 C
(k) Se torna fisurado. se recomienda el uso de material negro.
(l) Resiste a alcoholes, hidrocarburos, asflticos, leos, es soluble o altera su volumen con acetonas, steres e hidrocarburos aromticos.

ANEXO D

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