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CGPI-14
INSTITUTO POLITECNICO NACIONAL

COORDINACION GENERAL DE POSGRADO E INVESTIGACION
ACTA DE REVISION DE TESIS
En la Ciudad de - México, O. F siendo las 17:30 horas del día 7 del mes de
Abril del ~ se reunieron los miembros de la Comisión Revisora de Tesis designada
por el Colegio de Profesores de Estudios de Posgrado e Investigación de la E. S. I. M. E.
para examinar la tesis de grado titulada:
"DISEÑO MECÁNICO DE UN BRAZO MANIPULADOR INDUSTRIAL ROBÓTICO
HIDRÁULICO (MIRH1) DE CINCO GRADOS DE LlB'
Presentada por el alumno:
VÁZQUEZ VÁZQUEZ RAIMUNDO ANTELMO
Apellido paterno materno
nombre(~) I I I I I I I
Con registro: I B I O I 1 I 1 I O I 3 I O I
Aspirante al grado de:

MAESTRO EN CIENCIAS
Después de intercambiar opiniones los miembros de la Comisión manifestaron SU
APROBACION DE LA TESIS, en virtud de que satisface los requisitos señalados por las
disposiciones reglamentarias vigentes.
LA COMISION REVISORA
tesis
~
M. EN C~~ATANAVE
~y RABASA
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EL PRESIDENTE DEL I
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INSTITUTO POLITECNICO NACIONAL
COORDINACION GENERAL DE POSGRADO E INVESTIGACION
CARTA SESION DE DERECHOS
En la Ciudadde México,Distrito Federal,el día ~ del mes ~ del año ~ el (la) que suscribe
Raimundo Antelmo VázQuezVázQuez alumno(a) del Programa de M. EN C. INGENIERIA
MECANICA (DISEÑO)con númerode registro 8011030. adscrito a la Secciónde Estudiosde
Posgradoe Investigaciónde la ESIMEUnidadZacatenco,manifiestaque es autor(a)intelectualdel
presenteTrabajode Tesis bajo la direccióndel PRFR M. EN C. JORGE RAMOSWATANAVEy
cede los derechosdel trabajo intitulado:DISEÑODE UN 8RAZO MANIPULADORINDUSTRIAL
RO8ÓTICO HIDRÁULICO(MIRH1) DE CINCO GRADOSDE LI8ERTDA. al InstitutoPolitécnico
Nacionalparasu difusión,con fines académicosy de investigación.
Los usuariosde la informaciónno debenreproducirel contenidotextual,graficaso datos del trabajo

sin el permisoexpresodel autor y/o directordel trabajo. Este puede ser obtenidoescribiendoala
siguientedirección: raimundovazauezCW:att.net.mx
Si el permisose otorga,el usuariodeberádar el agradecimientocorrespondientey citar la fuentedel
mismo.
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43
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4 4
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7
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47
23: #
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Wt = 12.76kg (C arg a concentrada , obtenida del software Solid Works v 2003)

Wef = 3kg ( Efector final )
Wm = 4kg (C arg a máxima)
T4 = ? ( Torque requerido )
Tmax = 80 N .m [Torque del motor a 13.8MPa (2000 psi)]
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1000mm 1kg
52.59 N ≤ 80 N
48
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49
1 1
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Wt = 12.76kg (C arg a concentrada, obtenida del software software Solid Works v 2003)
Wef = 3.0kg ( Efector final)
Wm = 4.0kg (C arg a máxima)
Tmax = 80 N .m [Torque máximo del motor a 13.8MPa (2000 psi)]
I yy = 2722467207gr.mm 2
( Momento de inercia de masa obtenido del mismo software)
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gr.mm 2 1Kg 1m 2
T4 = 3375859337 * * + 52.59[ N .m] = 3.38[ N .m] + 52.59[ N .m]
seg 2 1000 gr 1000 2 mm 2
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T4 = 55.97[ N .m]
55.97 N .m ≤ 80 N .m
0
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Solid Works v 2003 )
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rpm = arc = (180) = 3600
t 3 min
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min 360° min
1Kg 2.2lb 1000mm 1in

T1 = 41.34 N .mx x x x = 365[in.lb]
9.81N 1Kg 1m 25.4mm
T .rpm 365(10)
HP = = = . .:9 ?1 B
63000 63000
FS = 2
HP = 2 x0.05 = 0.1HP
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lb
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516 7
T = 365[in.lb]
πd p n π (5)(10) pie
Vp = = = 13 ,
12 12 min
T 365
Ft = = = 146[lb] F
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600 + V p 600 + 13
Fd = Ft = 146 = 149[lb] %
600 600
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61
CAPÍTULO 5
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I Cos 5 Sin 2 3 4
I Cos 5 Sin 1 Cos 1 Cos 2 3 4 Sin 5
I Cos 1 Cos 5 Cos 2 3 4 Sin 1 Sin 5
I Sin 2 3 4 Sin 5
I Cos 1 Sin 2 3 4
I Sin 1 Sin 2 3 4
I Cos 2 3 4
I
Cos 1 Cos 2 a2 Cos 1 Cos 2 Cos 3 a3 Cos 1 Sin 2 Sin 3 a3 Sin 1 d2 Sin 1 d3
Sin 1 Sin 5 a5 d4 Cos 1 Sin 2 3 Sin 4 a4 Cos 5 a5 Cos 4 d5 Cos 1 Cos 2 3 Cos 4 a4 Cos 5 a5 Sin 4 d5
I
Cos 2 Sin 1 a2 Cos 2 Cos 3 Sin 1 a3 Sin 1 Sin 2 Sin 3 a3 Cos 1 d2 Cos 1 d3
Cos 1 Sin 5 a5 d4 Sin 1 Sin 2 3 Sin 4 a4 Cos 5 a5 Cos 4 d5 Cos 2 3 Sin 1 Cos 4 a4 Cos 5 a5 Sin 4 d5
I Sin 2 a2 Sin 2 3 a3 Sin 2 3 4 a4 Cos 5 a5 d1 Cos 2 3 4 d5
65
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CAPÍTULO 6
En este capítulo se presentas las conclusiones

respecto al proyecto desarrollado, además de las
recomendaciones para el desarrollo de un
manipulador completo en sus distintas
aplicaciones.
71
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78
ANEXO A
ANEXO B
Cinemática inversa 2.nb 1
Desarrollo de las ecuaciones de diseño 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 1 , 0, Sin 1 , Cos 1 a1 ,

Sin 1 , 0, Cos 1, Sin 1 a1 , 0, 1, 0, d1 , 0, 0, 0, 1
Out[2]//MatrixForm=
0 1 0 d1
0 0 0 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 2 , Sin 2, 0, Cos 2 a2 ,

Sin 2 , Cos 2 , 0, Sin 2 a2 , 0, 0, 1, d2 , 0, 0, 0, 1
Out[4]//MatrixForm=
Sin 2 Cos 2 0 Sin 2 a2
0 0 1 d2
0 0 0 1
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 3 , Sin 3, 0, Cos 3 a3 ,

Sin 3 , Cos 3 , 0, Sin 3 a3 , 0, 0, 1, d3 , 0, 0, 0, 1
Out[6]//MatrixForm=
0 0 1 d3
0 0 0 1
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 4 , 0, Sin 4 , Cos 4 a4 ,

Sin 4 , 0, Cos 4 , Sin 4 a4 , 0, 1, 0, d4 , 0, 0, 0, 1
Out[8]//MatrixForm=
0 1 0 d4
0 0 0 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 5 , Sin 5, 0, Cos 5 a5 ,

Sin 5 , Cos 5 , 0, Sin 5 a5 , 0, 0, 1, d5 , 0, 0, 0, 1
Out[10]//MatrixForm=
0 0 1 d5
0 0 0 1
Operaciones matriciales
In[11]:= A02 Dot A01 , A12

MatrixForm A02
Out[11]= Cos 1 Cos 2 , Cos 1 Sin 2 , Sin 1 , Cos 1 a1 Cos 1 Cos 2 a2 Sin 1 d2 ,
Cos 2 Sin 1 , Sin 1 Sin 2 , Cos 1 , Sin 1 a1 Cos 2 Sin 1 a2 Cos 1 d2 ,
Sin 2 , Cos 2 , 0, Sin 2 a2 d1 , 0, 0, 0, 1
0 0 0 1
In[13]:= A03 Dot A02 , A23

MatrixForm A03
Out[13]= Cos 1 Cos 2 Cos 3 Cos 1 Sin 2 Sin 3 ,

Cos Cos 3 Sin 2
1 Cos 1 Cos 2 Sin 3 , Sin , 1
Cos 1 a1 Cos 1 Cos 2 a2 Cos 1 Cos 2 Cos 3 a3
Cos 1 Sin 2 Sin 3 a3
Sin 1 d2 Sin 1 d3 , Cos 2 Cos 3 Sin 1 Sin 1 Sin 2 Sin 3 ,
Cos 3 Sin 1 Sin 2 Cos 2 Sin 1 Sin 3 , Cos 1 ,
Sin 1 a1 Cos 2 Sin 1 a2 Cos 2 Cos 3 Sin 1 a3
Sin 1 Sin 2 Sin 3 a3 Cos 1 d2 Cos 1 d3 ,
Cos 3 Sin 2 Cos 2 Sin 3 , Cos 2 Cos 3 Sin 2 Sin 3 , 0,
Sin 2 a2 Cos 3 Sin 2 a3 Cos 2 Sin 3 a3 d1 , 0, 0, 0, 1
Cos 1 Cos 2 Cos 3 Cos 1 Sin 2 Sin 3 Cos 1 Cos 3 Sin 2 Cos 1 Cos 2 Sin
Cos 2 Cos 3 Sin 1 Sin 1 Sin 2 Sin 3 Cos 3 Sin 1 Sin 2 Cos 2 Sin 1 Sin
Cos 3 Sin 2 Cos 2 Sin 3 Cos 2 Cos 3 Sin 2 Sin 3
0 0
In[15]:= A35 Dot A34 , A45

MatrixForm A35
Out[15]= Cos 4 Cos 5 , Cos 4 Sin 5 , Sin 4 , Cos 4 a4 Cos 4 Cos 5 a5 Sin 4 d5 ,
Cos 5 Sin 4 , Sin 4 Sin 5 , Cos 4 , Sin 4 a4 Cos 5 Sin 4 a5 Cos 4 d5 ,
Sin 5 , Cos 5 , 0, Sin 5 a5 d4 , 0, 0, 0, 1
0 0 0 1
In[17]:= T Dot A03 , A35 FullSimplify

MatrixForm T
Out[17]= Cos 1 Cos 2 3 4 Cos 5 Sin 1 Sin 5 ,

Cos 5 Sin 1 Cos 1 Cos 2 3 4 Sin 5 , Cos 1 Sin 2 3 4 ,
Cos 1 a1 Cos 1 Cos 2 a 2 Cos 1 Cos 2 Cos 3 a3
Cos 1 Sin 2 Sin 3 a3 Sin 1 d2 Sin 1 d3 Sin 1 Sin 5 a5 d4
Cos 1 Sin 2 3 Sin 4 a4 Cos 5 a5 Cos 4 d5
Cos 1 Cos 2 3 Cos 4 a4 Cos 5 a5 Sin 4 d5 ,
Cos 2 3 4 Cos 5 Sin 1 Cos 1 Sin 5 ,
Cos 1 Cos 5 Cos 2 3 4 Sin 1 Sin 5 , Sin 1 Sin 2 3 4 ,
Sin 1 a1 Cos 2 Sin 1 a2 Cos 2 Cos 3 Sin 1 a3
Sin 1 Sin 2 Sin 3 a3 Cos 1 d2 Cos 1 d3 Cos 1 Sin 5 a5 d4
Sin 1 Sin 2 3 Sin 4 a4 Cos 5 a5 Cos 4 d5
Cos 2 3 Sin 1 Cos 4 a4 Cos 5 a5 Sin 4 d5 ,
Cos 5 Sin 2 3 4 , Sin 2 3 4 Sin 5 , Cos 2 3 4 , Sin 2 a2
Sin 2 3 a3 Sin 2 3 4 a4 Cos 5 a5 d1 Cos 2 3 4 d5 , 0, 0, 0, 1
Cos 1 Cos 2 3 4 Cos 5 Sin 1 Sin 5 Cos 5 Sin 1 Cos 1 Cos 2 3 4 Sin
Cos 2 3 4 Cos 5 Sin 1 Cos 1 Sin 5 Cos 1 Cos 5 Cos 2 3 4 Sin 1 Sin
Cos 5 Sin 2 3 4 Sin 2 3 4 Sin 5
0 0
Posición de inicio.nb 1
Evaluación del sistema matricial para determinar la posición del último eslabón del MIRH1
Posisción de Inicio-referencia
Software: mathematica 4
In[19]:= d1 0
Out[19]= 0
In[20]:= d2 0
Out[20]= 0
In[21]:= d3 0
Out[21]= 0
In[22]:= d4 0
Out[22]= 0
In[23]:= d5 442
Out[23]= 442
In[24]:= a1 0
Out[24]= 0
In[25]:= a2 450
Out[25]= 450
In[26]:= a3 450
Out[26]= 450
In[27]:= a4 0
Out[27]= 0
In[28]:= a5 0
Out[28]= 0
In[29]:= 1 90 ° 0°
Out[29]= 90 °
In[30]:= 2 90 ° 0°
Out[30]= 90 °
In[31]:= 3 90 ° 0°
Out[31]= 90 °
In[32]:= 4 90 ° 0°
Out[32]= 90 °
In[33]:= 5 0°
Out[33]= 0
In[34]:= 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 N
MatrixForm
A01
Out[34]= 0., 0., 1., 0. , 1., 0., 0., 0. , 0., 1., 0., 0. , 0., 0., 0., 1.
0. 0. 1. 0.
1. 0. 0. 0.
0. 1. 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 N
MatrixForm
A12
Out[36]= 0., 1., 0., 0. , 1., 0., 0., 450. , 0., 0., 1., 0. , 0., 0., 0., 1.
0. 1. 0. 0.
1. 0. 0. 450.
0. 0. 1. 0.
0. 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 N
MatrixForm
A23
Out[38]= 0., 1., 0., 0. , 1., 0., 0., 450. , 0., 0., 1., 0. , 0., 0., 0., 1.
0. 1. 0. 0.
1. 0. 0. 450.
0. 0. 1. 0.
0. 0. 0. 1.
In[40]:= 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 N
MatrixForm
A34
Out[40]= 0., 0., 1., 0. , 1., 0., 0., 0. , 0., 1., 0., 0. , 0., 0., 0., 1.
0. 0. 1. 0.
1. 0. 0. 0.
0. 1. 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 N
MatrixForm
A45
Out[42]= 1., 0., 0., 0. , 0., 1., 0., 0. , 0., 0., 1., 442. , 0., 0., 0., 1.
1. 0. 0. 0.
0. 1. 0. 0.
0. 0. 1. 442.
0. 0. 0. 1.
Operaciones matriciales
In[44]:= A02 Dot A01 , A12 N

MatrixForm A02
Out[44]= 0., 0., 1., 0. , 0., 1., 0., 0. , 1., 0., 0., 450. , 0., 0., 0., 1.
0. 0. 1. 0.
0. 1. 0. 0.
1. 0. 0. 450.
0. 0. 0. 1.
In[46]:= A03 Dot A02 , A23 N

MatrixForm A03
Out[46]= 0., 0., 1., 0. , 1., 0., 0., 450. , 0., 1., 0., 450. , 0., 0., 0., 1.
0. 0. 1. 0.
1. 0. 0. 450.
0. 1. 0. 450.
0. 0. 0. 1.
In[48]:= A35 Dot A34 , A45 N

MatrixForm A35
Out[48]= 0., 0., 1., 442. , 1., 0., 0., 0. , 0., 1., 0., 0. , 0., 0., 0., 1.
0. 0. 1. 442.
1. 0. 0. 0.
0. 1. 0. 0.
0. 0. 0. 1.
In[50]:= T Dot A03 , A35 FullSimplify N

MatrixForm T
Out[50]= 0., 1., 0., 0. , 0., 0., 1., 892. , 1., 0., 0., 450. , 0., 0., 0., 1.
0. 1. 0. 0.
0. 0. 1. 892.
1. 0. 0. 450.
0. 0. 0. 1.
ANEXO C
ENGINEERING DATA
THE BASICS POSSIBLE APPLICATIONS
Rotary actuators convert fluid pressure into rotary power, and develop Rotary actuators are adaptable to a wide variety of uses in many
instant torque in either direction. Basic construction consists of an different industries. The sketches shown give only an idea of the various
enclosed cylindrical chamber containing a stationary barrier and a possibilities. Actuators can perform a wide range of operations involving
central shaft with vane(s) affixed. Fluid pressure applied to either side rotary or linear motion.
of the vane will cause the shaft to rotate.
TOGGLE — BEND TWIST

PUSH — CLAMP
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. TURN — OSCILLATE CONTINUOUS ROTATION INDEX — POSITION
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 MATERIAL HANDLING MIX — STIR AUTOMATION TRANSFER
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°.
VERSATILITY
Fluid Media — Actuators can be operated on either pneumatic LOAD — CONVEYOR TURN — STOP INTERMITTENT FEED
or hydraulic pressure. The fluid can be air, oil, high water base fluid POSITION — UNLOAD
(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. TURNOVER — DUMP VALVE OPEN — CLOSE LIFT — ROTATE
Actuators are usually mounted in a stationary position with the shaft — — — AND MANY OTHERS
rotating, but also can be shaft mounted with the housing portion rotat-
ing. Some models require mounting dowels to resist torsional forces. FACTORS TO CONSIDER WHEN
See the specific actuator model for mounting details.
APPLYING ACTUATORS
TYPICAL MOUNTINGS 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 mechani-
cal contact, hydraulic shock loads.
Control — Stopping, starting, acceleration and deceleration of Rate of Oscillation — time to move load thru required angle. Also
actuators can be controlled by various types of valves in the fluid circuit. consider small angle - high rate applications.
External stops are recommended for most applications, Cycle Frequency — how often actuator is cycled. One cycle per
although the arc of oscillation can be controlled by valves or positive minute, one cycle per week, etc.
internal stops (for light duty applications only). External Stops — external stops should be used to limit
In most cases special manifolds can be designed to mount servo- angular travel as the actuator abutments (shoes) are not designed
valves to the actuators allowing sophisticated control of all functions. as mechanical stops.
Operating Press — should not exceed rated pressure of actuator.
E-1
1-94
ENGINEERING DATA
Environmental Calculation of the amount and rate of energy dissipation required to

Temperature — Hot example – foundry applications. stop a moving mass is possible if the variables such as velocity, mass,
Cold example – cryogenic equip, outdoor equip. time, pressure, viscosity, etc., can be determined. In actual circuits
Dirt — Examples, foundries, construction equipment these factors are inter-related and solution is often complex.
Caustic — Examples, valve operators, mixers plating tanks Good general practice requires that more cycle time be allowed for
Engineering
Humidity — marine applications, outdoor deceleration than for acceleration of a given mass.
Vibration — machine tools, test equipment A simplified calculation can be made if the assumption is made that
Data
Radiation — nuclear energy plants the acceleration and deceleration are constant and uniform. The energy
Electricity — welding equipment
required to accelerate the mass must be equal to the energy to
Clean — food processing, medical equipment
decelerate the mass. This simplifies to the following formulas:
Pressure (PSI accel) times Pressure (PSI accel) times
Maintenance Rotation (Degrees accel)= Time accel=
Lubrication — consult factory OR
Filter Maintenance — especially foundry and construction Pressure (PSI decel) times Pressure (PSI decel) times
type applications Rotation (Degrees decel) Time decel
Shaft Alignment — close tolerance alignment or flexible couplings Example:
Proper Mounting — rigid support, tight bolts, good coupling fits A mass accelerated uniformly for
Long Term Storage — fill with compatible oil 50° @ 800 psi moves at constant
External Stops — tightness and proper location velocity through use of flow-control
Fluid Media Conditioning — water separators, lubricators, oil coolers valves until decelerated in the last
Fittings and Hoses — tightness and general condition
100° in 10 seconds @ 400 psi.
Protective Shielding — for high temperature or excessively
dirty applications Note, however, that if the driving
pressure were not removed during
the deceleration period, the total deceleration pressure would be the sum of
GENERAL ENGINEERING NOTES pressures, and at 1,200 psi could exceed the rating of the unit.
Selection of the proper sized actuator for an application is Actuator distributors can provide valuable assistance in solving specific
accomplished by determining the necessary torque to move the load circuit and application problems.
at the required speed, the available fluid pressure and the necessary Direction and speed control for slow speed and light loading
arc of rotation. Good design practice dictates a nominal over – capacity applications can be accomplished with relatively simple fluid circuits using
be designed into the load moving system. hand- operated 4-way valves.
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
High speed and/or rapid cycling operation would suggest a commercially
to the excess torque or force, F.
available solenoid-operated 4-way directional control valve and flow-control valves
A=F or F=MA for better control of cycle motions, and the addition of fluid cooler, accumulators,
M and other components directed to specific system requirements.
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°) posi-
tion. The load torque due to load force thus decreases from maximum Severe shock and possible damage to the system can occur on hydraulic
at position 1 to minimum at position 2, and then reverses to aid rota- applications by sudden or complete restriction of outgoing fluid, which allows
tion from position 2 to position 3. Restrictions of fluid flow and control the moving mass to generate high surge or transient shock wave pressures
of deceleration pressures is vitally necessary in this type of application. which must not exceed the rating of the unit.
E-2
4-96
ENGINEERING DATA
Deceleration valves, actuated by cams or by limit switches, are often Filtration:
used to gradually restrict the fluid and stop the moving mass. Usually, Filtration of operating fluid to the 25 micron range is recommended.
relief valves plumbed as shown, or plumbed from one line to the other in Storage:
each direction, will limit the generation of surge pressures to a safe Actuators, when stored for any extended period of time, will require
value. Cross-port relief manifolds are available for most actuators. If cam additional rust protection. Upon receipt of the actuator, remove port
valves are used, the cam shape should provide a gentle ramp transition, plugs, fill the actuator chambers with clean, mineral-base oil (or other
and the spool should be tapered to provide a gradual closing off of fluid. fluid compatible with seal compounds), and replace plugs securely.
As a general rule, external stops, mounted securely to the Cover exterior surfaces with adequate rust-preventive material. Place in
machine framework, should be used to stop the load. The shaft a poly bag and seal.
vanes should not contact the internal stops except under very Installation:
light loads. Normal machinists’ practice and care should be used in installing
Air bleeding in hydraulic systems is usually not required if actuator is actuators. As for any oscillating type actuator, the most efficient means
mounted with supply ports upward. In other positions, air will gradually of transmitting the torque developed is through multiple tooth, involute
dissolve in the oil and be carried away as the actuator is cycled. Special spline or SAE 10-B spline. Suitable flange type adapters and straight
bleed connections are available as an optional feature on some connectors are covered under “Accessories” in the catalog. These are
actuators if specified when ordering. also available through the local distributor.
Internal by-pass flow is always present to a small degree, and System Pressure:
increases with increase of pressure. On air applications it must be Caution must be exercised in actuator sizing by making allowance for
recognized that on stall-out applications, under air pressure, there will a pressure drop throughout the hydraulic system in which the actuator is
be a small continuous by-pass flow. installed. If an extensive system of piping, control valves, flow control
Pure torque out-put from the actuator without external radial shaft valves, etc. is present, it is to be expected that full line pressure will not
bending loads is preferred to allow maximum bearing life. An arrange- be available at the actuator inlet port.
ment with a semi-flexible coupling and the load shaft supported by Angular Velocity:
separate bearings is recommended. 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
A similar arrangement is advised for power transmission through when ordering spare or replacement parts. Replacement of worn bearings
gears to eliminate gear load and separating forces from aggravating the may be accomplished by qualified personnel, but we recommend that such
actuator bearing load. 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
Where a flexible coupling cannot be parts list for ordering replacement parts, is available from the factory.
used, very accurate alignment of the Service operations should be performed by competent hydraulic
actuator and associated equipment is equipment technicians to maintain high manufacturing quality standards.
essential to prevent undue actuator
bearing loading. Basic Formulas (Hydraulic)
End thrust or axial loading of the L = Body Length (in.)
actuator shaft is not advised. A thrust D = Body I.D. (in.)
bearing, and the load driven through a d = Hub dia. (in.)
sliding spline (or other means) ARC = Degrees of Rotation
is recommended to minimize internal N = Number of Vanes
wear for maximum actuator life.
PSI = Lbs/Sq. Inch (Pressure)
Temperature: Displacement Per Radian = [N•L(D2 – d2 )]÷8 (in3/Rad.)
Standard actuators, unless otherwise specified, may be operated Theoretical Torque = [N•L(D2 – d2)÷8]PSI (in-lb)
satisfactorily between minus 30°F and plus 250°F. Operation at higher Actual Torque = Theoretical Torque •% efficiency (in-lb)
temperatures requires special seal compounds. Total Displacement = [L•ARC•N•π (D2 – d2)]÷1440 (in3)
E-3
4-96
ENGINEERING DATA FIGURE 1. TYPICAL HARMONIC MOTION DRIVE ARRANGEMENT
HARMONIC MOTION DRIVES

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
Engineering
type motion. The scotch yoke converts the constant speed rotating
motion to a sinusoidal motion producing maximum linear force for
Data
acceleration, maximum linear speed thru the middle of the actuator
stroke, and maximum decelerating forces to slow and stop the load.
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 (rω2 cos ωt)
The following equations assume a constant actuator rotational g g
velocity. This is sometimes difficult to achieve, particularly for short (8) F = W (rω2cos ωt) (sin ωt)
cycle times that result in a large load velocity. The inertia of the load g
will tend to drive the actuator during the deceleration phase. These
forces may cause cavitation or physical damage to the actuator. (9) R = W (rω2cos2 ωt)
Therefore, under certain conditions the actuator may require external g
assistance in decelerating the load.
A flow control in the discharge side of the actuator provides this Therefore, the required actuator torque at any time during the cycle is:
assistance, assuring a positive-pressure throughout the cycle. The (10) T = (F)r = Wr2ω2 (cos ωt) (sin ωt)
added resisting torque resulting from the discharge metering must be g
added to the driving torque requirement. The maximum torque requirement may be found by differentiating
equation (10) with respect to time and setting the result equal to 0 as
Equations of Motion follows:
The equation of motion for a Scotch Yoke mechanism can be (11) dT = Wr2ω2 d(cosωt sin ωt) =0
developed as follows: dt g dt
Referring to Figure 1.
(1) s=r cosθ Wr2ω2 [ωcos2ωt – ωsin2ωt] =0
and g
(2) θ=ωt
Where Since sin2ωt = 1 – cos2ωt, substitution into equation (11) yields
ω = angular velocity of crank (link 1). rad cos2ωt = 0.5
t=time, sec. sec. or
r=crank length, in. cosωt = sinωt = 0.5
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 Therefore, the maximum actuator torque requirement is:
the movement with respect to time. Wr2ω2
(3) v = d(–s) = d(–r cos ωt) =rω sin ωt (12) T max. = (.5)
g
dt dt π
Recalling that ω = (t’ = time for 180° crank throw)
The acceleration of load W is found by differentiating its velocity with t’
respect to time: and g = 386.4 in/sec2
(4) a = dv = d(rω sin ωt) =rω2 cos ωt
dt dt (13) T max. = (.5)(π)2
Therefore, when the crank rotates at constant angular velocity, the veloci- XW r( ) = .01277W ( t’r ) inIN-LB
2 2
with r measured
386.4 t’ inches.
ty and acceleration of the load can be determined for any position of the
crank. Equation (4) indicates that maximum acceleration occurs when This expression may be used to determine the maximum actuator
cos ωt = 1 or torque requirement for a frictionless system by knowing the load weight,
(5) a max. =rω2 crank arm length and the time required for 180º crank rotation.
For a 180° crank throw, ω = π , where t’ represents the time In systems where friction must be considered, the required actuator
t’ torque will obviously be greater than that given by equation 13. The
required to transfer the load a distance of 2r. Therefore, derivation of torque equations which consider the effects of friction
(6) a max. =r ( π )2 becomes somewhat mathematically involved and will therefore not be
t’ repeated here.
This relation applies for any load W.
E-4
4-96
ENGINEERING DATA
However, by considering only friction of the moving load and neglect- The symbols used in the sample problems are defined as follows:
ing the crank friction forces along the vertical axis (vertical friction forces a, b, Dimensional Characteristics of Load, IN.
have little effect on torque) it can be shown that the maximum actuator F Force, LB.
torque is approximately: g Acceleration of Gravity, (386.4 IN./SEC.2)
(14) T max. = Wr[.02554 r cosωt + µ]sin ωt, in-lb Jm Polar (mass) Moment of Inertia, in-lb sec2
(t’)2 r Radius, IN. (to the center of gravity of the weight)
where µ = coefficient of friction of moving load t Time, Sec. (per stroke or 1/2 cycle)
T Torque, IN.-LB.
ωt = cos-1 {–9.788 µ(t’)2 + .25 [1532.76 µ2(t’)4 + 8]1/2} m Mass of Load (Weight ÷ 386.4)
r r2 α Angular Acceleration, RAD./SEC.2
ROTATIONAL SPEED OF θ Angular movement in radians (degrees per stroke ÷ 57.3)
ACTUATORS/PUMP CAPACITY Problem #1
REQUIRED Find the torque required to rotate a rectangular load (horizontally) thru a
For hydraulic operation the time necessary for the actuator to make its given arc in a specified time. (See fig. 1)
travel arc can be figured with reasonable accuracy. Solution:
T = ∑ Jmα
Where:
∑ Jm = Jm1 + Jm2 . . . The sum of all polar mass moments of inertia
Arc=amount of rotation required (in degrees).
being rotated.
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.
60•Arc
t=
Av
13235•GPM
Av =
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.
Jm1 ≅ m1 r1 2 (for applications where r is large in comparison to a & b)
13235•GPM 13235•5 17506.6 degrees per
Av = = = minute
Da 3.78 Jm2 = m2 (for a straight rod or any straight symmetrical shape)
2
60•Arc 60•100 3
t= = = .343 seconds
Av 17506.6 α = 4θ (assumes 50% of rotating time for acceleration and 50%
Using the same basic formula, the GPM required to rotate an actuator a t2 for deceleration)
specified arc in a specified time can be figured.
Example #1
GPM = Da x Av Find the torque necessary to rotate a 20 lb. weight, 160°, in .5 seconds.
13235 The weight is supported by a 36" long, 3 lb. rod. (a & b are 8.4 inches)
Example: (r1 = 40.2 inches)
Calculate the necessary pump capacity required to rotate an actuator
that displaces 10.9 cubic inches per radian, 180° in .5 seconds. Jm1 ≅ m1 r1 2 = 20 (40.2)2 = 83.64 in-lb sec2
386.4
60•Arc 60•180°
Jm2= 2 = [3÷(386.4)]362 = 3.35 in-lb sec2
2
Av = = = 21,600 degrees per minute m
t .5
3 3
Da•Av 10.9•21,600
GPM = = = 17.79 Gallons per minute
13235 13235 160°
θ = 57.3° = 2.792 radians
SAMPLE PROBLEMS α 4θ
=
4(2.792)
= = 44.67 radians / sec.2
A few typical Rotac application problems are presented here along with t2 .52
simplified solutions which can be used to approximate the torque
requirement for a specific job. These formulas should be used only as a T = ∑ Jmα = (Jm1 + Jm2)α = (83.64 + 3.35)44.67 = 3885 in-lb of
guide in the selection of an actuator since friction and other system torque required
characteristics are not considered.
(
Note: If r1 is small in relation to a & b use: Jm1 = m1 a2 + b2 +r 2
12 )
E-5
2-90
ENGINEERING DATA
Example #2 Problem 2:
(assume r1 in example #1=12" all other parameters remain the same) Find the torque required to rotate a thin hollow pipe about its transverse
axis through a given angle in a specified time.
Jm1 = m1 a2 + b2 + 2 = 20
(12
r1 )
386.4
(
12
12 )
8.42 + 8.42 + 2 =8.06 in-lb sec2
Engineering
= r1 – (a÷2) = 12 – (8.4÷2) = 7.8
[3÷ (386.4)]7.82 = .157 in-lb sec2
Data
2
Jm2 m2 =
3 3
α = same as previous (44.67)
T = ∑Jmα = (Jm1 + Jm2)α = (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 T = Jmα = (Jmc + Jmp) α
specified arc in a specified time.
For thin-walled pipe 2
Solution: Jmp = m (rp2 + p )
T =∑(Jmα + (Wr cosθs )) 2 6
For thick-walled pipe 2

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

Jmc = m (3rc2 + c)
2
12
Assume:
50% ( t ) for acceleration
50% ( t ) for deceleration
Therefore,
FIGURE 2
α = 4θ
Note: Jmα is the torque required to move the load without the effect t2
of gravity. Example:
Wr cosθ is the torque resulting from the effect of gravity on the load. Assume:
The torque required changes as the angle changes, the maximum Carrier: — 1" dia. x 12" long steel bar (2.7 Lb.)
requirement at horizontal, lessening to zero at the vertical. The torque Pipe: — 2.88 I.D. x 3.00 O.D. x 36" long (steel) (6 Lb.)
value is negative past vertical, gravitational forces actually aiding in Rotate pipe 180° in 2 secs.
producing torque.
m= W
Example #3 386.4
Find the torque required if the load in example # 1 is rotated vertically.
Assume the starting angle (θS) is 20°. T = (Jmp = Jmc) α
Assume: Jmp =m (rp2 + p2) = .0155 (1.442 + 362) = 1.690 in-lb sec2
Jmα = T = 3885 in.-lb. (from example #1) W1 = 20 lb., W2 = 3 lb., 2 6 2 6
r1 = 40.2, r2 = 20.1
2
Jmc =m (3rc2 + c) = .007 (3(.5)2 + 122) = .084 in-lb sec2
T = ∑ (Jmα + (w1 r1 + w2 r2)cos θS) 12 12
= 3885 + (20 • 40.2 + 3 • 20.1) cos 20° = 4697 in.-lb. required at start.
α = 4θ = 4(180÷57.3) = 4(3.14) = 3.14 rad/sec.2
Tmax = ∑ [Jm∝ + (w1 r1 + w2 r2)] t2 22 4
= [3885 + (20•40.2 + 3•20.1)] = 4749 in-lb
T = (1.690 + .084) 3.14 = 5.57 in.-lb. torque required
E-6
4-96
ENGINEERING DATA
Problem 3: Problem 4:
Find the torque required to open or close a door through a given angle Find the torque required to rotate several plates of various thicknesses
in a specified time. through a given angle in a specified time.
Solution:
T= Jm CL Rotation α = ∑ [(Jm1 + Jm2 + Jm3) α + (w1r1 + w2r2 + w3r3)]
M1 2 2
Jm1 = (a + b ) + m1r12
12 1 1
M2 2 2
Jm2 = (a + b ) + m2r22
Solution: 12 2 2
T = Jm CL hinge α
M3 2 2
Jm3 = (a + b ) + m3r32
JmA-A = m (a2 + b2) 12 3 3
12
Assume:
Jm CL hinge = JmA-A + mr2 50% (t) for acceleration
50% (t) for deceleration
Assume:
50% ( t ) for acceleration Therefore,
50% ( t ) for deceleration α = 4θ
t2
Therefore,
4θ Example:
a= Rotate three plates as shown, 180º in 2 secs.
t2
Assume:
Example: w1: a1 =.5", b1 =6" weight=10 Lb., r1 =5.25
Find the torque necessary to open a 350 Lb. door 100° in .8 secs. w2: a2 =5", b2 =6" weight=100 Lb., r2 =2.5
Assume: w3: a3 =2", b3 =6" weight=40 Lb., r3 =1.0
door: a = 4", b = 36", r = 22", w = 350 Lb. m= W
386.4
W
m=
386.4 T= Jm CL Rotation α = ∑ (Jm1 + Jm2 + Jm3) α
Jm1 = m1 (a12 + b12) + m1 r12 = .026 (.52 + 62) + .026 (5.25)2
T = Jm CL hinge α 12 12
= .795 in-lb sec2
JmA-A = m (a2 + b2) = .906 (42 + 362) = 99.06 in-lb sec2
12 12 Jm2 = m1 (a22 + b22) + m2 r22 = .259 (52 + 62) + .259 (2.5)2
12 12
= 2.94 in-lb sec2
Jm CL hinge = JmA-A + (mr2) = 99.06 + (.906 (222)) = 537.56 in-lb sec2
Jm3 = m3 (a32 + b32) + m3 r32 = .104 (22 + 62) + .104 (1.0)2
α = 4θ = 4(100÷57.3) = 6.98 = 10.91 rad./sec2 12 12
t2 .82 .64 = .451 in-lb sec2
α = 4θ
2
T = Jm CL hinge α = 537.56 (10.91) = 5864. 12 in-lb. torque required = 4(180÷57.3) = 4(3.14) = 3.14 rad/sec.
t2 22 4
T= ∑ [(Jm1 + Jm2 + Jm3) α + (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 5: Problem 6:
Find the torque required to produce a given force as shown in the Find the torque required to produce a given force in a typical die
figure below. closer application.
Engineering
Data
Solution: Solution:
T=
[ Fr sin (θ1 + θ2)
cosθ1 ] T=
[ 2Fr sin (θ1 + θ2)
cosθ1 ]
Design Notes: Design Notes:
1. The design should be such that angles θ1 and θ2 are not permitted 1. The design should be such that angles θ1 and θ2 are not permitted
to go to zero degrees. 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*
Polar mass
Solids Moment of inertia, Jm Radius of gyration, K
2
JAA= m KAA= .
12 12
JBB= m 2 KBB= .
3 3
JCC= m 2 sin2 OC KCC= sin OC .

3 3
JAA= mr2 [1– sin OC cos OC .]

KAA= r 1/2 1– sin OC cos OC .
( )
2 OC OC
JBB= mr2 [1+ sin OC cos OC .] 1/2 1+ sin OC cos OC .

2 OC
KBB= r ( OC
)
JAA= JBB = ma2 KAA= KBB= a

6 6
W = total weight of the body. m = W

* All axes pass through the center of gravity unless otherwise noted. 386.4 E-8
4-96
REFERENCE DATA
PROPERTIES OF VARIOUS SOLIDS* (CONTINUED)
Polar mass
JAA = m(a2 + b2) . a2 + b2 .

KAA=
12 12
JBB = m(b2 + c2) .
12 KBB= b2 + c2 .
12
JAA= mr2 . KAA= r .

2
2
JBB= m (3r2 + h2).

12 KBB= 3r2 + h2 .
12
JAA= m(R2 + r2 ). KAA= R2 + r2 .

2 2
2
JBB= m(R2 + r2 + h )
3 . KBB= 3R2 + 3r2 + h2 .
4 12
JAA= mr2. KAA= r.
JBB= m r2 + h2 .
2 ( 6
) 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

E-9 * All axes pass through the center of gravity unless otherwise noted. 386.4
2-90
REFERENCE DATA
Polar mass
Engineering
Data
JAA= 2mr2 . KAA= 2r .
5 10
JAA= 2m R5 – r5. R5 – r5 .
(
5 R3 – r3 ) KAA= 2/5
R3 – r3
JAA= 2mr2 . KAA= 2r .

3 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 4R2 + 3r2
( 2
JAA= m R2 + 3R .
4
)
KBB= 4R2 + 5r2 .
(
2
2
8
2
JBB= m R + 5r . ) 8
W
* All axes pass through the center of gravity unless otherwise noted. W = total weight of the body. m = E-10
386.4 4-96
REFERENCE DATA
Distance to center Polar mass
Solids of gravity, x Moment of inertia, Jm Radius of gyration, K
2 2
JAA= m (a + b ) . a2 + b2 .
x=h . 20 KAA=
4 20
JBB= m (b2 + 3h2).
20 4 KBB= 1/80 (4b2 + 3h2).
2 3r
JAA= 3mr . KAA= .
x=h . 10 30
4
JBB= 3m r2 + h2 .
( ) KBB= 3/80 (4r2 + h2).
20 4
5 5
JAA= 3m (R - r ) .
2 2
x = h (R 2 + 2Rr + 23r ) .
4 (R + Rr + r ) 10 (R3 - r3)
KAA= (R5 - r5) .
3/10
(R3 - r3)
2
JAA= mr . r .
KAA=
3 3
x = 1/3h.
JBB= m (3r2 + h2). KBB= 1/10 (3r3 + h2).
10
2
JAA= m (3rh – h ) . 3rh - h2 .
x = 3/8(2r – h). 5 KAA=
5
2
x = 3 (2r – h) .
4 (3r – h)
For half sphere ( 4

)
JAA=m r2 3rh + 3h2 2h .
20 3r - h KAA=
I.
W
x = 3/8 r.

E-11 * All axes pass through the center of gravity unless otherwise noted. 386.4
2-90
REFERENCE DATA
DEFINITIONS, ABBREVIATIONS AND SYMBOLS
ABBREVIATIONS: SYMBOLS:
BTU. British Thermal Unit — 1 BTU = Heat required to raise A Area

temperature of one pound of water 1°F. a Linear acceleration (FPS2), rate of change of velocity
α
Engineering
ºC Degrees Centigrade Angular acceleration (Radians per SEC.2)
CAL. Calorie — 1 CAL. = Heat required to raise temperature C Compressibility of oil (CU. IN.)
Data
of one gram of water 1°C. D Density, mass per unit volume
C. C. Cubic Centimeter E Energy
CU. FT. Cubic Foot F Force, (LB.) an influence which produces or tends to
CU. IN. Cubic Inch produce, motion or change of motion.
°F Degrees Fahrenheit f Coefficient of friction
FPS. Feet per second g Acceleration of gravity (IPS2) = 386.4 at sea level
FT. Feet (foot) HE Elevation Head
GAL. U.S. Gallon Hg Mercury
GPM. Gallons per minute HP Pressure head (static)
HP. Horsepower = Work at rate of 33,000 FT. LB./MIN. Hv Velocity head
IN. Inch(es) L Gallons per minute (GPM)
IPS Inches per second M Mass = W ; or a mass which, with an unbalanced
°K Degrees Kelvin 386.4
LB. Pound(s) force of 1 LB. acting upon it, would have an acceleration
MIN. Minute(s) of time of 1 IPS2
PSI Pounds per square inch Mf Mechanical friction
REV. Revolutions (of shaft or pump) N Revolutions per minute (RPM)
SEC. Second(s) of time ∆P Pressure differential (DROP)
SP. GR. Specific Gravity — Ratio of the weight of a body to the P Pounds per square inch (PSI)
weight of an equal volume of water at 4°C or other specified r Arm (torque), radius in inches
temperature. T Torque (inch-pounds)
SP. HT. Specific Heat — Ratio of heat required to raise a unit U Velocity (FPS) rate of change of distance (length)
weight of a substance 1°F. to the amount of heat required V Volume (CU. IN.)
to raise an equal weight of water 1°F. at a certain W Weight (LB.) force which gravitation exerts on a
temperature. (Hydraulic oil is approx. 0.45.) material body.
SP. WT. Specific weight or weight density = LB./CU.FT.; LB./CU.
IN. or grams/C.C.
SQ. IN. Square inch(es)
CONVERSION TABLES
TORQUE PRESSURE VOLUME MASS

IN-LB x .1130 = N-m PSI x .06895 = BAR Cubic Inches x 16.39 = CU. CMS Kg x 2.2046 = Lbs
N-m x 8.851 = IN-LB BAR x 14.5 = PSI CU. CMS x .06102 = Cubic Inches Lbs x .4536 = Kg
N-m x 9.807 = Kgf-m Kpa x .1450 = PSI Gallon x 3.785 = Liter
Kgf-m x 86.799 = IN-LB PSI x 6.895 = Kpa Liter x .264 = Gallon POWER
Gallon x 3785 = CU.CMS Hp x .7457 = Kw
CU. CMS x .0002642 = Gallon
E-12
4-96
REFERENCE DATA
DEFINITIONS BY FORMULAS
ACCELERATION a = F = Fg
M W
W
From F = Ma and M =
g
Degrees/SEC.2
α = Radians/SEC. =
2
57.3
FORCE
F = AP
FRICTION
Mf = W xf Note: Static (or breakaway) friction coefficient is greater than kinetic (or moving) friction coefficient
GRAVITY
g = 386.4 in. / SEC. 2 (at sea level)
FU LP TN
HORSEPOWER HP = = =
550 1714 63,025
MASS W W W (grams) W
M= or, at sea level, = , or = or
g 32.2 980 386.4
NOTE: Mass is constant regardless of altitude.
ORIFICE AREA See pressure drop
PRESSURE
F
P= (consistent units)
A
PRESSURE DROP 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°
2π π
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 2π
VELOCITY,
Angular Radians/SEC. = Degrees/SEC.
57.3
Flow U=0.321 L
A
E-13
2-90
Micro-Precision
FLOW RATE DATA

GUIDE TO SIZE VALVE OPEN—CLOSE
Engineering
Data
MIX—STIR
TURNOVER—DUMP
FLOW RATE
FORMULAS LOAD—POSITION—UNLOAD
GMP = 3.117 AV
.0333 AVθ
RPS =
D
Rad/Sec = 2 π (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. TURN—OSCILLATE
θ = Amount of rotation (degrees)
D = Total displacement of actuator (in3)
MATERIAL HANDLING
E-14
4-96
FLOW RATE DATA
FLOW RATE AND FLOW RATE AND
ANGULAR VELOCITY TIME ANGULAR VELOCITY TIME
PORT ACTUATOR AT 10 FPS (SEC.) AT 15 FPS (SEC.)
SAE DIAMETER DISPLACEMENT OIL VELOCITY PER OIL VELOCITY PER
STRAIGHT TUBE PORT STROKE STROKE
THREAD I.D. AREA IN3 IN3
GPM RAD/SEC RPS GPM RAD/SEC RPS
MODEL PORT SIZE ➀ (IN2) TOTAL RADIAN
MPJ-11-1V .835 .178 .33 7.22 1.15 .65 .50 10.87 1.73 .43
3/8-24 .117 .0107
-2V .557 .357 3.52 .56 .45 5.43 .86 .29
MPJ-22-1V 3.820 .815 .86 4.07 .65 1.16 1.28 6.10 .97 .77
1/2-20 .187 .0275
-2V 2.560 1.631 2.02 .32 .78 3.03 .48 .52
MEDIUM PRESSURE
MPJ&R-32-1V 9.2 1.88 4.63 9.47 1.51 .52 6.95 14.2 2.26 .34
7/8-14 .435 .1493
-2V 6.6 3.78 4.72 .75 .37 7.07 1.13 .25
MPJ&R-34-1V 18.4 3.76 4.63 4.74 .75 1.03 6.95 7.10 1.13 .69
7/8-14 .435 .1493
-2V 13.0 7.44 2.40 .38 .73 3.59 .57 .49
MPJ&R-63-1V 53.3 10.90 6.93 2.44 .39 1.99 10.39 3.67 .58 1.33
1 1/16-12 .532 .2223
-2V 38.0 21.77 1.22 .19 1.42 1.84 .29 .95
MPJ&R-84-1V 127.4 26.07 14.14 2.09 .33 2.34 21.21 3.13 .50 1.56
1 5/16-12 .760 .4537
-2V 91.0 52.14 1.04 .17 1.63 1.57 .25 1.11
MPJ&R-105-1V 253.3 51.83 24.97 1.85 .29 2.63 37.96 2.78 .44 1.76
1 5/8-12 1.01 .8012
-2V 181.0 103.71 .93 .15 1.85 1.39 .22 1.26
MPJ-116-1V 412.9 84.50 38.87 1.77 .28 2.76 58.30 2.66 .42 1.84
1 7/8-12 1.26 1.247
-2V 295.0 169.04 .88 .14 1.98 1.33 .21 1.31
MPJ-128-1V 588.4 120.41 38.87 1.24 .20 3.93 58.30 1.86 .30 2.62
1 7/8-12 1.26 1.247
-2V 420.3 240.83 .62 .10 2.78 .93 .15 1.87
SS-1-1V 5.86 1.20 .57 1.82 .29 2.69 .85 2.72 .43 1.79
7/16-20 .152 .0182
-2V 4.19 2.40 .91 .14 1.92 1.36 .22 1.28
SS-4-1V 18.62 3.81 1.47 1.48 .24 3.29 2.20 2.23 .35 2.19
9/16-18 .245 .0472
-2V 13.29 7.62 .74 .12 2.35 1.11 .18 1.57
SS-8-1V 9/16-18 .245 .0472 39.09 8.00 1.47 .71 .11 6.91 2.20 1.06 .17 4.60
SS-12-1V 60.84 12.45 2.73 .84 .13 5.79 1.27 .20 3.86
3/4-16 .334 .0876 4.10
-2V 43.46 29.90 .42 .07 4.13 .63 .10 2.76
SS-25-1V 7/8-14 .435 .1493 43.46 24.90 4.63 2.00 .32 2.44 6.95 3.01 .48 1.62
SS-40-1V 195.46 40.00 14.14 1.36 .22 3.59 2.04 .32 2.39
1 5/16-12 .760 .4537 21.21
-2V 139.62 80.00 .68 .11 2.56 1.02 .16 1.71
SS-65-1V 317.63 65.00 14.14 .84 .13 5.83 1.26 .20 3.89
1 5/16-12 .760 .4537 21.21
-2V 226.88 130.00 .42 .07 4.17 .63 .10 2.79
SS-130-1V 635.25 130.00 24.97 .74 .12 6.61 1.11 .18 4.40
1 5/8-12 1.010 .8012 37.46
-2V 453.75 260.00 .37 .06 4.72 .55 .09 3.15
26R-2-1V 9.35 1.91 2.73 5.50 .87 .89 4.10 8.24 1.31 .59
3/4-16 .334 .0876
-2V 6.67 3.82 2.74 .44 .63 4.13 .66 .42
26R-5-1V 21.20 4.34 2.73 2.42 .39 2.02 4.10 3.63 .58 1.34
3/4-16 .334 .0876
-2V 15.10 8.68 1.21 .19 1.96 1.82 .29 .96
HIGH PRESSURE
26R-10-1V 49.30 10.12 4.63 1.76 .28 2.78 6.95 2.64 .42 1.85
7/8-14 .435 .1493
-2V 35.40 20.24 .88 .14 1.98 1.32 .21 1.32
26R-17-1V 82.60 16.90 6.93 1.58 .25 3.10 10.39 2.37 .38 2.06
1 1/16-12 .532 .2223
-2V 59.00 33.80 .79 .13 2.14 1.18 .19 1.47
26R-31-1V 199.50 30.60 14.14 1.78 .28 2.75 21.21 2.67 .42 1.83
1 5/16-12 .760 .4537
-2V 106.80 61.20 .89 .14 1.98 1.33 .21 1.31
26R-62-1V 304.00 62.20 14.14 .88 .14 5.58 21.21 1.31 .21 3.72
1 5/16-12 .760 .4537
-2V 217.00 124.40 .44 .07 3.99 .66 .10 2.66
26R-124-1V 598.00 122.00 38.87 1.22 .19 4.09 58.30 1.83 .29 2.66
1 7/8-12 1.26 1.247
-2V 427.00 244.00 .61 .10 2.78 .92 .15 1.90
HS-1.5-1V 9/16-18 .245 .0472 7.33 1.50 1.47 3.77 1.30 .93 2.20 5.66 .90 .86
HS-2.5-1V 9/16-18 .245 .0472 12.22 2.50 1.47 2.26 .36 2.16 2.20 3.39 .54 1.44
HS-4.0-1V 9 16-18 .245 .0472 19.55 4.00 1.47 1.41 .23 3.46 2.20 2.12 .34 2.30
HS-6.0-1V 3/4-16 .334 .0876 31.08 6.36 2.73 1.65 .26 2.95 4.10 2.48 .39 1.97
HS-10-1V 3/4-16 .334 .0876 46.62 9.54 2.73 1.10 .18 4.43 4.10 1.65 .26 2.96
HS-15-1V 3/4-16 .334 .0876 73.30 15.00 2.73 .70 .11 6.97 4.10 1.05 .17 4.65
SS-.2A-1V — .125 .0123 .98 .20 .38 7.34 1.17 .67 .57 11.02 1.75 .44
SS-.5A-1V 2.20 .45 .34 2.87 .46 1.71 .50 4.30 .68 1.14
3/8-24 .117 .0107
-2V 1.57 .90 1.43 .23 1.22 2.15 .34 .81
SS-1A-1V 5.86 1.20 .57 1.82 .29 2.69 .85 2.72 .43 1.79
7/16-20 .152 .0182
-2V 4.19 2.40 .91 .14 1.92 1.36 .22 1.28
SS-4A-1V 18.62 3.81 1.47 1.48 .24 3.29 2.20 2.23 .35 2.19
7/16-20 .152 .0182
-2V 13.29 7.62 .74 .12 2.35 1.11 .18 1.57
SS-8A-1V 9/16-18 .245 .0472 39.09 8.00 1.47 .71 .11 6.91 2.20 1.06 .17 4.60
NOTE: ➀ INLET HOLE DIA. IN MPJ-22 & SS-.2A UNITS
E-15
6-91
FLOW RATE AND FLOW RATE AND
ANGULAR VELOCITY TIME ANGULAR VELOCITY TIME
PORT ACTUATOR AT 20 FPS (SEC.) AT 25 FPS (SEC.)
SAE DIAMETER DISPLACEMENT OIL VELOCITY PER OIL VELOCITY PER
STRAIGHT TUBE PORT STROKE STROKE
THREAD I.D. AREA IN3 IN3
MODEL PORT SIZE ➀ (IN2) TOTAL RADIAN GPM RAD/SEC RPS GPM RAD/SEC RPS
Engineering
MPJ-11-1V .835 .178 14.95 2.30 .33 18.10 2.88 .26
3/8-24 .117 .0107 .67 .83
-2V .557 .357 7.22 1.15 .22 9.05 1.44 .17
Data
MPJ-22-1V 3.820 .815 8.13 1.29 .56 10.16 1.62 .46
1/2-20 .187 .0275 1.71 2.14
-2V 2.560 1.631 4.04 .64 .39 5.06 .80 .31
MEDIUM PRESSURE
MPJ&R-32-1V 9.2 1.88 18.95 3.02 .26 23.68 3.77 .21

7/8-14 .435 .1493 9.26 11.58
-2V 6.6 3.78 9.43 1.50 .19 11.79 1.88 .15
MPJ&R-34-1V 18.4 3.76 9.47 1.51 .52 11.84 1.88 .41
7/8-14 .435 .1493 9.26 11.58
-2V 13.0 7.44 4.79 .76 .36 5.99 .95 .29
MPJ&R-63-1V 53.3 10.90 4.89 .79 1.00 6.11 .97 .80
1 1/16-12 .532 .2223 13.85 17.32
-2V 38.0 21.77 2.45 .39 .71 3.06 .49 .57
MPJ&R-84-1V 127.4 26.07 4.18 .66 1.17 5.22 .83 .94
1 5/16-12 .760 .4537 28.28 35.35
-2V 91.0 52.14 2.09 .33 .84 2.61 .42 .67
MPJ&R-105-1V 253.3 51.83 3.71 .59 1.32 4.64 .74 1.05
1 5/8-12 1.01 .8012 49.95 62.43
-2V 181.0 103.71 1.85 .30 .94 2.32 .37 .75
MPJ-116-1V 412.9 84.50 3.54 .56 1.38 4.43 .70 1.10
1 7/8-12 1.26 1.247 77.73 97.16
-2V 295.0 169.04 1.77 .28 .99 2.21 .35 .79
MPJ-128-1V 588.4 120.41 2.49 .40 1.97 3.11 .49 1.57
1 7/8-12 1.26 1.247 77.73 97.16
-2V 420.3 240.83 1.24 .20 1.40 1.55 .25 1.12
SS-1-1V 5.86 1.20 3.63 .58 1.35 4.54 .72 1.08
7/16-20 .152 0.182 1.13 1.41
-2V 4.19 2.40 1.81 .29 .96 2.27 .36 .77
SS-4-1V 18.62 3.81 2.97 .47 1.65 3.71 .59 1.32
9/16-18 .245 .0472 2.94 3.67
-2V 13.29 7.62 1.49 .24 1.17 1.86 .30 .94
SS-8-1V 9/16-18 .245 .0472 39.09 8.00 2.94 1.41 .23 3.45 3.67 1.77 .28 2.76
SS-12-1V 60.84 12.45 1.69 .27 2.89 2.11 .34 2.31
3/4-16 .334 .0876 5.46 6.83
-2V 43.46 29.90 .84 .13 2.07 1.06 .17 1.65
SS-25-1V 7/8-14 .435 .1493 43.46 24.90 9.26 4.01 .64 1.22 11.58 5.01 .80 .97
SS-40-1V 195.46 40.00 2.72 .43 1.80 3.40 .54 1.44
1 5/16-12 .760 .4537 28.28 35.35
-2V 139.62 80.00 1.36 .22 1.28 1.70 .27 1.03
SS-65-1V 317.63 65.00 1.68 .27 2.92 2.09 .33 2.33
1 5/16-12 .760 .4537 28.28 35.35
-2V 226.88 130.00 .84 .13 2.08 1.05 .17 1.67
SS-130-1V 635.25 130.00 1.48 .24 3.30 1.85 .29 2.64
1 5/8-12 1.010 .8012 49.96 62.43
-2V 453.75 260.00 .74 .12 2.36 .92 .15 1.89
26R-2-1V 9.35 1.91 10.99 1.75 .44 13.74 2.19 .36
3/4-16 .334 .0876 5.46 6.83
-2V 6.67 3.82 5.50 .88 .32 6.88 1.09 .25
26R-5-1V 21.20 4.34 4.85 .77 1.01 6.06 .96 .81
3/4-16 .334 .0876 5.46 6.83
-2V 15.10 8.68 2.43 .39 .72 3.04 .48 .57
26R-10-1V 49.30 10.12 3.52 .56 1.39 4.40 .70 1.11
HIGH PRESSURE
7/8-14 .435 .1493 9.26 11.58

-2V 35.40 20.24 1.76 .28 .99 2.20 .35 .79
26R-17-1V 82.60 16.90 3.16 .50 1.55 3.95 .63 1.24
1 1/16-12 .532 .2223 13.86 17.32
-2V 59.00 33.80 1.58 .25 1.10 1.97 .31 .88
26R-31-1V 199.50 30.60 3.56 .57 1.37 4.45 .71 1.10
1 5/16-12 .760 .4537 28.28 35.35
-2V 106.80 61.20 1.78 .28 .98 2.22 .35 .78
26R-62-1V 304.00 62.20 1.75 .28 2.79 2.19 .35 2.23
1 5/16-12 .760 .4537 28.28 35.35
-2V 217.00 124.40 .88 .14 1.99 1.09 .17 1.59
26R-124-1V 598.00 122.00 2.45 .39 2.00 3.06 .49 1.60
1 7/8-12 1.26 1.247 77.73 97.16
-2V 427.00 244.00 1.22 .19 1.43 1.53 .24 1.14
HS-1.5-1V 9/16-18 .245 .0472 7.33 1.50 2.94 7.45 1.20 .65 3.67 9.43 1.50 .52
HS-2.5-1V 9/16-18 .245 .0472 12.22 2.50 2.94 4.52 .72 1.08 3.67 5.66 .90 .86
HS-4.0-1V 9/16-18 .245 .0472 19.55 4.00 2.94 2.83 .45 1.73 3.67 3.54 .56 1.38
HS-6.0-1V 3/4-16 .334 .0876 31.08 6.36 5.46 3.31 .53 1.48 6.83 4.13 .66 1.18
HS-10-1V 3/4-16 .334 .0876 46.62 9.54 5.46 2.20 .35 2.22 6.83 2.76 .44 1.77
HS-15-1V 3/4-16 .334 .0876 73.30 15.00 5.46 1.40 .22 3.49 6.83 1.75 .28 2.79
SS-.2A-1V — .125 .0123 .98 .20 .77 14.69 2.34 .33 .96 18.36 2.92 .27
SS-.5A-1V 2.20 .45 5.73 .91 .85 7.16 1.14 .68
3/8-24 .117 .0107 .67 .84
-2V 1.57 .90 2.87 .47 .61 3.59 .57 .47
SS-1A-1V 5.86 1.20 3.63 .58 1.35 4.54 .72 1.08
7/16-20 .152 .0182 1.13 1.41
-2V 4.19 2.40 1.81 .29 .96 2.27 .36 .77
SS-4A-1V 18.62 3.81 2.97 .47 1.65 3.71 .59 1.32
7/16-20 .152 .0182 2.94 3.67
-2V 13.29 7.62 1.49 .24 1.17 1.86 .30 .94
SS-8A-1V 9/16-18 .245 .0472 39.09 8.00 2.94 1.41 .23 3.45 3.67 1.77 .28 2.76
ABBREVIATIONS GPM - GALLONS PER MINUTE FPS - FEET PER SECOND RPS - REVOLUTIONS PER SECOND RAD/SEC - RADIANS PER SECOND
E-16
4-96
Torque SINGLE VANE UNITS — GUIDE TO SIZE
Inch Lbs
4-96
E-17
750000
700000
650000
600000
550000
500000
450000
Note: Having determined pressure and

400000
torque requirements for your
350000
applications, use this guide to size
to assist in model selections. SS-130
300000 See appropriate catalog for SS-130 26R-124

complete data.
250000 SS-130
SS-130 26R-124 26R-124
225000
MODEL SEE PAGES SS-130 26R-124
200000 MP MP-1 — MP-4

SS-130 26R-124
26R 26R-1 — 26R-4
175000
SS SS-1 — SS-4 SS-130 26R-124 SS-65
150000
HS HS-1 — HS-4
SSA LW-1 — LW-4 26R-124 SS-65 26R-62
125000 Rotating R-1 — R-4 SS-65

SS-130 SS-65 26R-62 26R-62
SS-130
100000 26R-124 SS-65
MP-128 26R-124 SS-65 26R-62 26R-62 SS-40
90000
26R-62 SS-40 SS-40
80000
SS-130 SS-65 SS-40 26R-31
70000 26R-124
MP-128 MP-116 SS-65 26R-62 SS-40 26R-31
60000
26R-62 SS-40 26R-31 SS-25 SS-25
50000 SS-65 SS-25

SS-130 MP-116 26R-62 SS-40 26R-31 26R-31 SS-25
40000 MP-128 HS-15

26R-124 SS-65 MP-105 SS-40 26R-31 SS-25 26R-17 26R-17
30000 26R-62 SS-25 HS-15 HS-15 HS-15

MP-116 MP-105 SS-40 26R-31 26R-31 SS-25 26R-17 26R-17 26R-17 SS-12 SS-12
SS-25 HS-10 HS-10
20000 SS-65 26R-31 HS-15 HS-15 HS-15 SS-12 HS-10 SS-8
SS-130 SS-130 26R-62 SS-40 MP-84 SS-25 26R-17 26R-17 SS-12 SS-12 26R-10 26R-10 26R-10
SS-25 SS-8A
15000 26R-124 SS-40 26R-31 HS-15 HS-10 HS-10 SS-8 HS-6
SS-130 MP-116 MP-128 MP-105 MP-84 26R-17 26R-17 SS-12 SS-12 26R-10 26R-10,HS-10 SS-8 SS-8 HS-6
SS-8
12250 SS-65 SS-8A SS-8A
MP-116 HS-15 SS-12 HS-10 26R-10 SS-8 HS-6 HS-6
SS-8A SS-4
10000 SS-25 HS-10 SS-8 HS-4
SS-130 MP-128 SS-65 26R-31 HS-15 SS-12 26R-10 26R-10 HS-6 26R-5 26R-5
105 HS-10 SS-4A HS-4
7500 SS-65 SS-40 SS-12 26R-10 SS-8A HS-4 SS-4 HS-4
SS-130 MP-116 26R-62,MP- MP-84 26R-17 MP-63 SS-8 HS-6 26R-5 26R-5,SS-4 26R-5 SS-4
HS-15 HS-10,MP-63 SS-8A HS-4,26R-5 SS-4A SS-4A
5000 SS-65 SS-40 SS-40 SS-12 SS-8 SS-8 SS-4A SS-4 SS-4 HS-21/2
SS-130 MP-128 MP-105 MP-105 SS-25 26R-17 SS-8A,26R-10 HS-6 HS-6 SS-4 HS-4,26R-5 HS-4 HS-21/2 HS-21/2 HS-21/2 26R-2
MID PRESSURE UP TO 1500 PSI HIGH PRESSURE UP TO 3000 PSI

4500
SS-65 MP-116 HS-4 HS-21/2 26R-2
SS-4A
4000 HS-10 SS-4
MP-128 SS-25 MP-84 MP-63 HS-6 26R-5 HS-11/2
3500 SS-8A HS-4

SS-65 SS-40 MP-84 26R-31 SS-8 26R-5 26R-2 HS-11/2
SS-4A
3000 SS-4
SS-25 HS-15 26R-10 MP-34 HS-21/2 HS-21/2 26R-2 HS-11/2 HS-11/2 SS-1
SS-4A
2500 SS-40 SS-A SS-1
MP-116 MP-105 MP-84 HS-15 SS-12 HS-6 HS-4 HS-21/2 26R-2 HS-11/2 26R-2 SS-1
2000 SS-40 26R-5 SS-1A SS-1A

MP-128 SS-25 HS-15 SS-12 HS-10 MP-34 HS-21/2 26R-2 HS-11/2 SS-1 SS-1
SS-8A,SS-8
1750 SS-25 26R-17 SS-1A
MP-105 MP-63 HS-4 26R-2 26R-2 SS-1
SS-1A
1500 HS-10 SS-4A HS-11/2
SS-12 MP-63 SS-4 HS-21/2 MP-32 HS-11/2 SS-1
1250 SS-25 HS-15 SS-8A 26R-5 SS-1A

MP-116 MP-84 HS-10 SS-8 HS-6 MP-34 HS-11/2 SS-1
HS-11/2
1000 SS-8A,SS-8 26R-2 SS-1A
HS-15 SS-12 MP-63 HS-6 26R-10 HS-21/2 MP-32 SS-1
900
MP-105 MP-84 HS-4
800 SS-4A SS-1A

HS-15 SS-12 HS-10 HS-6 SS-4 SS-1 SS-5A
700 SS-8A
SS-8 HS-4 MP-32 SS-5A
600 SS-4A HS-11/2

SS-12 HS-10 MP-63 SS-4 MP-34 26R-2 MP-22 SS-5A
SS-4A
500 SS-8A SS-4 SS-1A
HS-10 SS-8 HS-6 HS-4 MP-34 HS-21/2 SS-1 MP-22 SS-5A
SS-8A
400 SS-8
1
MP-84 HS-6 HS-2 /2 26R-5 SS-5A SS-2A SS-2A
SS-4A
300 HS-4 HS-21/2 HS-11/2
HS-6 MP-63 SS-4 MP-34 MP-32 MP-22 SS-5A SS-2A SS-2A SS-2A
SS-4A SS-4A SS-1A,SS-1
200 HS-4 HS-4 HS-21/2 HS-11/2 SS-1A
SS-4 SS-4 MP-34 HS-11/2 MP-32 SS-1 SS-5A SS-2A SS-2A SS-2A
100 1 1
HS-2 /2 HS-1 /2 HS-1-1/2,SS-1 SS-1A,SS-1 MP-22 MP-11
MP-63 MP-34 SS-1A,MP-32 MP-32 MP-22 26R-2 SS-5A SS-2A SS-2A
80 SS-1A
HS-11/2 SS-1 SS-5A SS-2A MP-11
SS-1A
60 SS-1
MP-34 MP-32 MP-22 SS-5A
40
MP-22 SS-5A SS-2A MP-11
35
30
MP-32 SS-2A
25
SS-2A MP-11
20
MP-22 MP-11
15
MP-11
10
5
MP-22 MP-11 MP-11
0
MP-11
20 40 60 80 100 150 200 250 500 750 1000 1250 1500 1750 2000 2250 2500 2750 3000
PSI ➧
Torque DOUBLE VANE UNITS — GUIDE TO SIZE
Inch Lbs
750000
700000
SS-130
650000
SS-130 26R-124
600000
SS-130 26R-124
550000
SS-130 26R-124
500000
450000 SS-130
Note: Having determined pressure and 26R-124 26R-124
400000 torque requirements for your

SS-130
applications, use this guide to size
350000 SS-65
to assist in model selections. SS-130 26R-124 26R-62
300000 See appropriate catalog for SS-65

SS-130 26R-124 SS-65 26R-62
complete data.
250000 SS-65
SS-130 26R-124 26R-62 26R-62
225000 SS-65
MODEL SEE PAGES 26R-124 26R-62 SS-40
200000 MP MP-1 — MP-4

MP-128 S-65 SS-40
26R 26R-1 — 26R-4
175000 SS SS-1 — SS-4 SS-130 SS-65 26R-62
150000
HS HS-1 — HS-4 26R-124
SSA LW-1 — LW-4 MP-128 MP-116 SS-65 26R-62 SS-40 SS-40 SS-40 26R-31 26R-31
125000 Rotating R-1 — R-4

26R-62 SS-40 26R-31
100000 SS-65
SS-130 MP-116 26R-62 SS-40 26R-31 26R-31
90000 26R-124
MP-128 SS-65 MP-105 SS-40 26R-31 26R-17
80000
26R-31 26R-17
70000
26R-62 SS-40 26R-17 SS-12
60000 SS-65
SS-130 MP-116 MP-105 26R-31 26R-17 26R-17 SS-12
50000
SS-40 26R-31 26R-17 SS-12 SS-12 26R-10 26R-10
40000 26R-62
SS-130 MP-128 MP-105 MP-84 26R-17 SS-12 SS-12 26R-10 26R-10
SS-65
30000 26R-124 26R-31
SS-130 MP-128 MP-116 SS-40 MP-84 26R-17 26R-17 SS-12 26R-10 26R-10
20000 SS-65 26R-31 SS-12 SS-4

SS-130 MP-128 MP-116 MP-84 26R-17 SS-12 26R-10 26R-10 26R-5 26R-5
SS-40 SS-4A
15000 SS-65 SS-40 26R-62 26R-10 SS-4 SS-4
SS-130 MP-116 MP-105 MP-105 SS-12 MP-63 26R-5 26R-5 26R-5 SS-4
SS-4A
12250 SS-65 SS-4 SS-4A
SS-130 MP-128 MP-63 26R-5 SS-4
SS-4A
10000 SS-40 SS-12 SS-4
MP-116 MP-105 26R-17 26R-10 26R-5 26R-2
SS-4A
7500 26R-31 SS-4
MP-128 SS-40 MP-84 MP-84 MP-63 26R-5 26R-5 26R-2 26R-2 26R-2
SS-4A SS-4A
5000 SS-40 SS-4 SS-4 SS-1A
SS-65 MP-116 MP-105 MP-84 SS-12 26R-10 26R-5 MP-34 26R-2 26R-2 SS-1 SS-1 SS-1 SS-1

4500 SS-40 SS-1A
MP-128 SS-8 MP-34 26R-2 SS-1
4000
26R-17 26R-2
3500 SS-4A SS-1A

MP-105 SS-12 MP-63 SS-4 26R-2 SS-1
3000 SS-1A
MP-116 MP-84 MP-63 MP-34 MP-32 SS-1
2500 SS-1A
26R-5 SS-1
2000 26R-2 SS-1A

SS-12 MP-63 26R-10 MP-32 SS-1
1750 SS-12 SS-4A

MP-105 MP-84 SS-4 SS-5A
1500 SS-1A
MP-32 SS-1 SS-5A
1250 SS-4A
SS-12 MP-63 SS-4 MP-34 MP-22 SS-5A
SS-1A
1000 SS-4A SS-1
SS-4 MP-34 26R-2 MP-22 SS-5A SS-5A
900
MP-84 26R-5
800
MP-63 SS-5A
700 SS-4A
SS-4 MP-34
600
MP-32 MP-32 SS-5A
500 SS-4A SS-1A

SS-4 MP-32 SS-1
SS-4A
400 SS-4 SS-1A
MP-63 MP-34 SS-1 SS-5A
SS-1A
300 SS-1 26R-2
MP-32 MP-22 MP-11
200 SS-1A, SS-1

MP-34 MP-32 MP-22 SS-5A MP-11
SS-1A
100 SS-1A, SS-1 SS-1 SS-5A
MP-34 MP-32 MP-22 SS-5A MP-11
80
60
MP-32 MP-22 MP-11
40
MP-22 MP-11
35
30
MP-11
25
20
MP-11
15
10
MP-22
5
MP-11
0
MP-11
4-96
E-20
PSI ➧ 20 40 60 80 100 150 200 250 500 750 1000 1250 1500 1750 2000 2250 2500 2750 3000

NOTES
E-21
6-91
125
STYLE HW URETHANE WIPER RINGS
WIPER RINGS
B
A
HERCULES PART NUMBERS SEAL INFORMATION
HW – 0500 MATERIAL 90 A URETHANE
C Type of TEMPERATURE
Size -65° TO +220° F
Wiper RANGE
NOTE: V suffix designates fluorocarbon material. N suffix designates nitrile material.
Part A - Rod B - O.D. C - Base List Part A - Rod B - O.D. C - Base List
Number Diameter Wiper Thickness Price Number Diameter Wiper Thickness Price
HW-0500 ................1/2 ................13/16................ .194 ............$ 1.88
HW-0500N ............1/2 ................13/16................ .194 ................1.75 HW-2500N ............2-1/2 ............3 ...................... .275 ............$ 2.97
HW-0500V ..............1/2 ................13/16................ .194 ................6.50 HW-2500V ............2-1/2 ............3.........................275 ..............12.06
HW-0625 ................5/8 ................15/16................ .194 ................2.11 HW-2625 ................2-5/8 ............3-1/8 ................ .275 ................4.01
HW-0625-1 ............5/8 ................1 ...................... .203 ................2.11 HW-2750 ................2-3/4 ............3-1/4 ................ .275 ................4.31
HW-3000 ................3 ..................3-1/2 ................ .275 ................4.84
HW-0625-1N ..........5/8 ................1 ...................... .203 ................2.11
HW-0625-2N ..........5/8 ................15/16................ .194 ................2.11 HW-3000N ............3 ..................3-1/2 ................ .275 ................4.84
HW-0625N ............5/8 ................15/16................ .194 ................2.11 HW-3000V ............3 ..................3-1/2 ................ .275 ..............15.31
HW-0625V ............5/8 ................15/16................ .194 ................7.17 HW-3250 ................3-1/4 ............3-3/4 ................ .275 ................5.45
HW-0750 ................3/4 ................1-1/16 .............. .194 ................2.11 HW-3500 ................3-1/2 ............4 ...................... .275 ................5.73
HW-3500N ............3-1/2 ............4 ...................... .275 ................5.79
HW-0750N ............3/4 ................1-1/16 .............. .194 ................2.11
HW-0875 ................7/8 ................1-1/4 ................ .212 ................2.15 HW-3500V ............3-1/2 ............4 ...................... .275 ..............19.30
HW-1000 ................1 ..................1-3/8 ................ .212 ................2.19 HW-3750 ................3-3/4 ............4-1/4 ................ .275 ................6.15
HW-1000N ............1 ..................1-3/8 ................ .212 ................2.19 HW-4000 ................4 ..................4-1/2 ................ .275 ................6.34
HW-1000V ............1 ..................1-3/8 ................ .212 ................7.72 HW-4000N ............4 ..................4-1/2 ................ .275 ................6.35
HW-4000V ............4 ..................4-1/2...................275 ..............21.32
HW-1125 ................1-1/8 ............1-1/2 ................ .212 ................2.27
HW-1250 ................1-1/4 ............1-5/8 ................ .212 ................2.44 HW-4250 ................4-1/4 ............4-3/4 ................ .275 ................6.51
HW-1250N ............1-1/4 ............1-5/8...................212 ................2.44 HW-4430 ................4-7/16 ..........4-15/16 ............ .275 ................6.60
HW-1375 ................1-3/8 ............1-3/4 ................ .212 ................2.64 HW-4500 ................4-1/2 ............5 ...................... .275 ................7.04
HW-1375N ............1-3/8 ............1-3/4 ................ .212 ................2.50 HW-4500N ............4-1/2 ............5 ...................... .275 ................5.11
HW-4500V ............4-1/2 ............5.........................275 ..............21.92
HW-1375V ............1-3/8 ............1-3/4...................212 ..............14.09
HW-1500 ................1-1/2 ............1-7/8 ................ .212 ................2.80 HW-4750 ................4-3/4 ............5-1/4 ................ .275 ..............16.68
HW-1500N ............1-1/2 ............1-7/8 ................ .212 ................2.80 HW-5000 ................5 ..................5-1/2 ................ .275 ................8.32
HW-1501 ................1-3/4 ............2-1/8 ................ .168 ................6.15 HW-5000N ............5 ..................5-1/2 ................ .275 ................6.71
HW-1625 ................1-5/8 ............2 ...................... .212 ................2.87 HW-5000V ............5 ..................5-1/2 ................ .275 ..............23.15
HW-1750 ................1-3/4 ............2-1/8 ................ .212 ................2.98 HW-5500 ................5-1/2 ............6 ...................... .275 ..............11.56
HW-1750N ............1-3/4 ............2-1/8 ................ .212 ................2.98 HW-5500N ............5-1/2 ............6 ...................... .275 ................5.81
HW-1750V ............1-3/4 ............2-1/8 ................ .212 ..............21.07 HW-5500V ............5-1/2 ............6 ...................... .275 ..............25.36
HW-1875 ................1-7/8 ............2-1/4 ................ .212 ................1.79 HW-6000V ............6 ..................6-1/2 ................ .275 ..............27.56
HW-2000 ................2 ..................2-3/8 ................ .212 ................3.40 HW-7000 ................7 ..................7-1/2 ................ .275 ..............14.94
HW-2000N ............2 ..................2-3/8...................212 ................3.40 HW-8000 ................8 ..................8-1/2 ................ .275 ..............26.11
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 SALES OFFICE HOURS WORLDWIDE

PHONE 1-800-777-5617 8 A.M. TO 8 P.M. EASTERN TIME PHONE 1-727-796-1300
FAX 1-800-759-6391 www.herculeshydraulics.com FAX 1-727-797-8849
Propiedades Polytec 1000® (Acetal) P.V.C. Flexible P.V.C. Rígido Teflón®
1-Resistencia a la tracción 8800 1500 - 3500 6000 - 7500 2000 - 5000
2-Elongación % 40 - 75 200 - 450 40 - 80 200 - 400
3-Resistencia a la compresión 16000 900 - 1700 8000 - 13000 1700
4-Resistencia a la flexión 13000 - 10000 - 16000 -
50 - 100 D65 - 85 D50 - 55
5-Dureza Rockwell M70 - 80 shore A shore shore
6-Módulo de flexión 3,75 - 3,5 -
7-Módulo de tracción 4,1 - 3.5 - 6.0 0,58
8-Módulo de compresión 4,5 - - -
9-Peso específico 1,41 1.16 - 1.35 1.30 - 1.58 2.14 - 2.20
10-Conductividad térmica 5,5 3,4 3.5 - 5.0 6
11-Calor específico 0,35 0.3 - 0.5 0.25 - 0.35 0,25
12-Resistencia al calor contínuo 104 66 - 79 54 - 79 260
13-Temperatura de distorción 110 60 - 70 -
264 P.S.I. 158 57 - 82 121
66 P.S.I. -
14-Resistencia específica 1 x 10E11 10E11 - 10E13 > 10E16 > 10E16
15-Resistencia dieléctrica de ruptura 500 300 - 400 350 - 500 480

16-Constante dieléctrica 60 ciclos 3,7 5,9 3.2 - 4.0 < 2.1
17-Resistencia arco voltaico 240 - 60 - 80 > 300
18-Absorción de agua (24 hs. 1/8" esp.) 0,22 0.15 - 0.75 0.04 - 0.40 0
19-Efecto de los rayos solares Leve ablandamiento Varia conf. estabilizador Varia conf. formulación Ninguna
20-Resistencia a los ácidos leves Resiste a algunos Buena Buena Buena
21-Resistencia a los ácidos fuertes Atacado Buena a razonable Buena a razonable Buena
22-Resistencia a las bases débiles Buena Buena Buena Buena
23-Resistencia a bases fuertes Buena Buena Buena Buena
24-Resistencia a solventes orgánicos Excelente (l) (l) Buena

25-Pérdida por abrasión - 187 160 42
(a) Atacado solamente por alta concentración de ácidos oxidantes.
(b) Atacado por NH3
(c) Soluble en acetona, esteres, aromatizantes e hidrocarburos
(d) Resiste a varios solventes a temperaturas < 80 ºC
(e) Los Nylons se tornan quebradizos después de una prolongada exposición a la luz del sol. Consulte sobre nylon negro para mayor resistencia
(f) Resistente a los solventes comunes, má disueltos por fenoles y ácido fórmico
(g) Sufre pequeño cambio de color, se torna levemente quebradizo
(h) Resiste a las parafinas, soluble en aromáticos e hidrocarburos clorados
(i) Pequeña pérdida de resistencia. Levemente amarillento
(j) Soluble en aromáticos e hidrocarburos clorados a 60 - 93 ºC
(k) Se torna fisurado. se recomienda el uso de material negro.
(l) Resiste a alcoholes, hidrocarburos, asfálticos, óleos, es soluble o altera su volumen con acetonas, ésteres e hidrocarburos aromáticos.
ANEXO D
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