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

2. ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators
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
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ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

3. ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators
Slide-3
Reference list
Air Muscle Actuated Low Cost Humanoid Hand
The Shadow Air Muscle
Seminar Paper
Images Scientific Instruments
Journal of Applied Science in the Thermodynamics and Fluid Mechanics
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ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

4. ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators
Slide-4
To explore further
Many websites show how to make your own air muscle from assorted pieces bought online.
Recommended:
Additional:
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ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

5. ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators
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:
Additional:
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ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

6. ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators
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.
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ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

7. Major applications PAMs in conventional robotics. Slide-7 03/07/12
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ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

8. ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators
Slide-8
Major applications
PAMs in prosthetics.
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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.

11. Basic Working Principle
As air is vented, the rubber relaxes and the muscle returns to its original length.

12. Sample Configurations
Due to the relatively low change in displacement, mechanical amplifiers are typically used to increase the effective displacement.

13. Sample Configurations
Two PAMs can also be used to create counter loads for each other.

14. Sample Configurations
More and more PAMs can be combined in a variety of configurations to create highly mobile and versatile systems.

15. Sample Configurations
Each PAM also requires a three way air valve and some kind of pressure system.

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. 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:
- Fully stretched length
- Fully contracted length
- Maximum pressure (both of rubber and fittings)
- Tightness of mesh weave -

18. Actuator Specifications
Shadow Air Muscle as an example:

19. Pros of PAMs - Lightweight - Low cost - Smooth - Flexible - Damped
- Powerful
- Compliant

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

21. Where to Buy
As mentioned earlier, Shadow Robot Company sales exceptional PAMs at a good price.

22. Here is what you'll need:
Can't Afford It? Build It.
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:
- 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