Pneumatic Actuation of a 2-Link Robotic System

Abstract

In the world of robotics, the interaction between an end-effector and a load is to be made as precise and stable as possible. Various fields of robotics, especially nanorobotics, are still in the testing phase but they demand precision. The investigation of a 2-link pneumatic robotic system, using robotic and electric actuators, will be made. For the sake of representation, the prototype will be made of available materials in the market to fulfil its requirements. An insight into robots explaining the various functions in the human world will be outlined. The aim of the Paper will be to illustrate an appropriate control strategy for a pneumatically-actuated robot. The choice and design of the actuator for the prototype will be explained. The type of piston, directional control valve (DCV) and push-buttons to meet the specifications of the robot will be elucidated. The completion of the prototype will give conclusive results about the operation of the robotic system.

Keywords: Robot, Pneumatic, Linear, Rotary, Actuator