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Prepared by: Jeffrey Taylor A00815505

ECE5320 Mechatronics Assignment#01: Literature Survey on Sensors and Actuators Pneumatic Artificial Muscles (PAMs). Prepared by: Jeffrey Taylor A00815505. 3/20/2012. Slide- 2. Outline. Reference list To probe further Major applications Basic working principle illustrated

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Prepared by: Jeffrey Taylor A00815505

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  1. ECE5320 MechatronicsAssignment#01: Literature Survey on Sensors and Actuators Pneumatic Artificial Muscles (PAMs) Prepared by: Jeffrey Taylor A00815505 3/20/2012

  2. Slide-2 Outline • Reference list • To probe further • Major applications • Basic working principle illustrated • A typical sample configuration in application • Major specifications • Limitations • Where to buy 03/07/12 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  3. Slide-3 Reference list • Air Muscle Actuated Low Cost Humanoid Handhttp://cdn.intechweb.org/pdfs/4176.pdf The Shadow Air Muscle http://www.shadowrobot.com/airmuscles/overview.shtml Seminar Paper http://www.seminarpaper.com/2011/12/seminar-report-on-air-muscle.html Images Scientific Instrumentshttp://www.imagesco.com/articles/airmuscle/AirMuscleDescription01.html Journal of Applied Science in the Thermodynamics and Fluid Mechanics http://astfm.tul.cz/journal/year-2009/1st-issue/ 03/07/12 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  4. Slide-4 To explore further Many websites show how to make your own air muscle from assorted pieces bought online. Recommended: http://www.instructables.com/id/How-to-make-air-muscles!/ Additional: http://www.youtube.com/watch?v=AkaVsoEd6Vo http://en.wikibooks.org/wiki/Robotics/Components/Actuation_Devices/Air_muscle http://www.ehow.com/how_2257980_make-air-muscles.html 03/07/12 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  5. Slide-5 To explore further There is a great deal of research being conducted on the use of PAMs for use in prosthetics and mobile robots. These links provide a few of the current projects. Recommended: http://www.instructables.com/id/How-to-make-air-muscles!/ Additional: http://www.youtube.com/watch?v=AkaVsoEd6Vo http://en.wikibooks.org/wiki/Robotics/Components/Actuation_Devices/Air_muscle http://www.ehow.com/how_2257980_make-air-muscles.html 03/07/12 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  6. Slide-6 Major applications PAMs have a variety of applications. They can be used to replace many pneumatic cylinders in traditional robotics and can be used to replicate biological systems in prosthetics. http://mindtrans.narod.ru/walkers/legs/pictures/shadow_leg.JPG 03/07/12 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  7. Slide-7 Major applications PAMs in conventional robotics. http://30.media.tumblr.com/tumblr_ll3ihkz7jJ1qft3eko1_500.jpg http://robotionary.com/wp-content/uploads/2010/10/festo-airacuda-the-new-pneumatic-muscle-fish.jpg 03/07/12 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  8. Slide-8 Major applications PAMs in prosthetics. http://images.gizmag.com/inline/amoarm-2.jpg http://www.amputation.research.va.gov/images/variable_stiffness_prosthetic_ankle.png 03/07/12 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  9. Basic Working Principle There are two main parts to an air muscle: a stretchable rubber and a braided mesh sleeve. The rubber provides a chamber for the air. The sleeve provides necessary strength against pulling forces.

  10. Basic Working Principle To contract the muscle, air is forced into the rubber, causing it to expand. Because the volume is fixed, the expansion causes an axial load. http://www.imagesco.com/articles/airmuscle/fig2.jpg

  11. Basic Working Principle • As air is vented, the rubber relaxes and the muscle returns to its original length. http://www.imagesco.com/articles/airmuscle/fig2.jpg

  12. Sample Configurations Due to the relatively low change in displacement, mechanical amplifiers are typically used to increase the effective displacement. • http://www.imagesco.com/articles/airmuscle/fig10.jpg

  13. Sample Configurations Two PAMs can also be used to create counter loads for each other. • http://www.imagesco.com/articles/airmuscle/fig12.jpg

  14. Sample Configurations More and more PAMs can be combined in a variety of configurations to create highly mobile and versatile systems. • http://upload.wikimedia.org/wikipedia/commons/c/c5/Shadow_Hand_Bulb_large.jpg

  15. Sample Configurations Each PAM also requires a three way air valve and some kind of pressure system. • http://www.imagesco.com/articles/airmuscle/fig13.jpg

  16. Actuator Specifications The specifications for a PAM can very greatly depending on the material used for the rubber membrane and for the mesh, the length of tubing and mesh, the working pressure of the system, etc.

  17. - Fully stretched length - Fully contracted length - Maximum pressure (both of rubber and fittings) - Tightness of mesh weave - Actuator Specifications Because of the diverse options provided by a PAM, the muscle can be made specifically for a given project. Some specifications to be aware of, however, are:

  18. Actuator Specifications Shadow Air Muscle as an example: http://www.shadowrobot.com/airmuscles/overview.shtml

  19. Pros of PAMs - Lightweight - Low cost - Smooth - Flexible - Damped - Powerful - Compliant • http://cdnimg.visualizeus.com/thumbs/3d/f3/baldwin,muscle,hydrostat,in,operation,mckibben,muscle,morin,muscle,pneumatic,muscle-3df3d5564e7402e3a21a71a76acbf55e_h.jpg

  20. Limitations There are three major limitations to an air muscle: - how far it can extend - how far it can contract - extremely non-linear MODEL OF THE PNEUMATIC DOUBLE ACTING CYLINDER COMPILED BY RHD RESISTANCES Journal of applied science in the thermodynamics and fluid mechanics Vol. 3, No. 1/2009, ISSN 1802-9388

  21. Where to Buy As mentioned earlier, Shadow Robot Company sales exceptional PAMs at a good price. • http://www.shadowrobot.com/images/sam30mm_pulling_nail_02.png

  22. Can't Afford It? Build It. - Air source - 1/4” high pressure poly tubing - 1/4” latex tubing - 3/8” braided nylon mesh - 1/8” small hose barb - Small bolt - Steel safety wire And of course - Safety goggles If you can't afford it, you can always build it by following the links at the beginning of this presentation. Here is what you'll need:

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