Date of download: 1/1/2018 Copyright © ASME. All rights reserved. From: Characterization of an Electric-Pneumatic Hybrid Prismatic Actuator J. Mechanisms Robotics. 2010;2(2):021008-021008-8. doi:10.1115/1.4001087 Figure Legend: Primary mechanical components include the motor A, isolation bearings, spline coupler B, pneumatic cylinder C, spline D, spline nut E attached to an extended hollow shaft F, piston brake G, roller-screw actuator H, roller-screw I, decoupling stage J that includes the power output point, and linear rail K. The arrows show component motions.

Date of download: 1/1/2018 Copyright © ASME. All rights reserved. From: Characterization of an Electric-Pneumatic Hybrid Prismatic Actuator J. Mechanisms Robotics. 2010;2(2):021008-021008-8. doi:10.1115/1.4001087 Figure Legend: Comparison of pre- and postcompression pressures in hybrid thrusting mode

Date of download: 1/1/2018 Copyright © ASME. All rights reserved. From: Characterization of an Electric-Pneumatic Hybrid Prismatic Actuator J. Mechanisms Robotics. 2010;2(2):021008-021008-8. doi:10.1115/1.4001087 Figure Legend: Net output force during electric charging of a compression thrust. The roller-screw begins to slip near the peak rated force of the pneumatic-assisted screw, eventually leading to significant deviation from the ideal model.

Date of download: 1/1/2018 Copyright © ASME. All rights reserved. From: Characterization of an Electric-Pneumatic Hybrid Prismatic Actuator J. Mechanisms Robotics. 2010;2(2):021008-021008-8. doi:10.1115/1.4001087 Figure Legend: Magnitude plot of the ETFE, ARX, and single sine analysis results to validate the pneumatic model. The phase is not shown; the results are similarly close.

Date of download: 1/1/2018 Copyright © ASME. All rights reserved. From: Characterization of an Electric-Pneumatic Hybrid Prismatic Actuator J. Mechanisms Robotics. 2010;2(2):021008-021008-8. doi:10.1115/1.4001087 Figure Legend: Comparing experimental and theoretical impulse response to validate the pneumatic damping ratio b†p

Date of download: 1/1/2018 Copyright © ASME. All rights reserved. From: Characterization of an Electric-Pneumatic Hybrid Prismatic Actuator J. Mechanisms Robotics. 2010;2(2):021008-021008-8. doi:10.1115/1.4001087 Figure Legend: Comparison of pneumatic (solid line), and electric-pneumatic (dashed line) PID trajectories for a 40 mm position step input. Switching mode allows precise steady-state positioning

Date of download: 1/1/2018 Copyright © ASME. All rights reserved. From: Characterization of an Electric-Pneumatic Hybrid Prismatic Actuator J. Mechanisms Robotics. 2010;2(2):021008-021008-8. doi:10.1115/1.4001087 Figure Legend: Mode of operation versus peak velocity, peak force, stiffness, and positioning resolution