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+ Good for large robots + Good for all size of + Many components are
and heavy payload Robots usually off-the-shelf
+Highest Power/Weight +Better control, good for +Reliable components.
Ratio high precision robots
+Stiff system, High +Higher Compliance that +No leaks or sparks
accuracy, better response Hydraulics
+No reduction gear +Reduction gears used +Inexpensive and simple
needed reduce inertia on the
motor
+Can work in wide range +does not leak, good for +Low pressure compared
of speeds without clean room to hydraulics
difficulty
+Can be left in position +Reliable, low + Good for on-off
without any damage maintenance applications and for pick
and place

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- May leak. Not fit for clean +Can be spark-free. Good for +Complaint systems.
room application explosive environment.
-Requires pump, reservoir, -Low stiffness -Noisy systems.
motor, hoses etc.
-Can be expensive and noisy, -Needs reduction gears, - Require air pressure, filter,
requires maintenance. increased backlash, cost, etc.
weight, etc.
-Viscosity of oil changes with -Motor needs braking device -Difficult to control their
temperature when not powered. linear position
Otherwise, the arm will fail.
-Very susceptible to dirt and - -Deform under load
other foreign material in oil constantly
-Low compliance - -Very low stiffness. Inaccurate
response.
-High torque, High pressure, - -Lowest power to weight ratio
large inertia on the actuator.

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