1. 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): doi: /
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.

2. 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): doi: /
Figure Legend:
Comparison of pre- and postcompression pressures in hybrid thrusting mode

3. 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): doi: /
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.

4. 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): doi: /
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.

5. 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): doi: /
Figure Legend:
Comparing experimental and theoretical impulse response to validate the pneumatic damping ratio b†p

6. 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): doi: /
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

7. 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): doi: /
Figure Legend:
Mode of operation versus peak velocity, peak force, stiffness, and positioning resolution